makeRotationFromEuler method

Matrix4 makeRotationFromEuler(Euler euler)

Implementation

Matrix4 makeRotationFromEuler(Euler euler) {
  final te = storage;

  final x = euler.x, y = euler.y, z = euler.z;
  final a = math.cos(x).toDouble(), b = math.sin(x).toDouble();
  final c = math.cos(y).toDouble(), d = math.sin(y).toDouble();
  final e = math.cos(z).toDouble(), f = math.sin(z).toDouble();

  if (euler.order == RotationOrders.xyz) {
    final ae = a * e, af = a * f, be = b * e, bf = b * f;

    te[0] = c * e;
    te[4] = -c * f;
    te[8] = d;

    te[1] = af + be * d;
    te[5] = ae - bf * d;
    te[9] = -b * c;

    te[2] = bf - ae * d;
    te[6] = be + af * d;
    te[10] = a * c;
  } else if (euler.order == RotationOrders.yxz) {
    final ce = c * e, cf = c * f, de = d * e, df = d * f;

    te[0] = ce + df * b;
    te[4] = de * b - cf;
    te[8] = a * d;

    te[1] = a * f;
    te[5] = a * e;
    te[9] = -b;

    te[2] = cf * b - de;
    te[6] = df + ce * b;
    te[10] = a * c;
  } else if (euler.order == RotationOrders.zxy) {
    final ce = c * e, cf = c * f, de = d * e, df = d * f;

    te[0] = ce - df * b;
    te[4] = -a * f;
    te[8] = de + cf * b;

    te[1] = cf + de * b;
    te[5] = a * e;
    te[9] = df - ce * b;

    te[2] = -a * d;
    te[6] = b;
    te[10] = a * c;
  } else if (euler.order == RotationOrders.zyx) {
    final ae = a * e, af = a * f, be = b * e, bf = b * f;

    te[0] = c * e;
    te[4] = be * d - af;
    te[8] = ae * d + bf;

    te[1] = c * f;
    te[5] = bf * d + ae;
    te[9] = af * d - be;

    te[2] = -d;
    te[6] = b * c;
    te[10] = a * c;
  } else if (euler.order == RotationOrders.yzx) {
    final ac = a * c, ad = a * d, bc = b * c, bd = b * d;

    te[0] = c * e;
    te[4] = bd - ac * f;
    te[8] = bc * f + ad;

    te[1] = f;
    te[5] = a * e;
    te[9] = -b * e;

    te[2] = -d * e;
    te[6] = ad * f + bc;
    te[10] = ac - bd * f;
  } else if (euler.order == RotationOrders.xzy) {
    final ac = a * c, ad = a * d, bc = b * c, bd = b * d;

    te[0] = c * e;
    te[4] = -f;
    te[8] = d * e;

    te[1] = ac * f + bd;
    te[5] = a * e;
    te[9] = ad * f - bc;

    te[2] = bc * f - ad;
    te[6] = b * e;
    te[10] = bd * f + ac;
  }

  // bottom row
  te[3] = 0;
  te[7] = 0;
  te[11] = 0;

  // last column
  te[12] = 0;
  te[13] = 0;
  te[14] = 0;
  te[15] = 1;

  return this;
}