rotateZYX static method

MatrixBase<MatrixBase, Vector3Base, QuaternionBase, Vector4Base> rotateZYX(Vector3Base<Vector3Base, MatrixBase, QuaternionBase, Vector4Base> angle)

Returns a rotation matrix applied in Z > Y > X order from angle's components (in radians).

Implementation

static MatrixBase rotateZYX(Vector3Base angle) {
  final result = zeroFactory();

  final cz = math.cos(angle.z);
  final sz = math.sin(angle.z);
  final cy = math.cos(angle.y);
  final sy = math.sin(angle.y);
  final cx = math.cos(angle.x);
  final sx = math.sin(angle.x);

  result.m0 = cz*cy;
  result.m4 = cz*sy*sx - cx*sz;
  result.m8 = sz*sx + cz*cx*sy;

  result.m1 = cy*sz;
  result.m5 = cz*cx + sz*sy*sx;
  result.m9 = cx*sz*sy - cz*sx;

  result.m2 = -sy;
  result.m6 = cy*sx;
  result.m10 = cy*cx;

  result.m15 = 1;

  return result;
}