rotate

Append a rotation transform inferred from arguments to the matrix m. This is equivalent to the expression

rotation(...) * m

but actually save computation by knowing where the ones and zeros are in a pure rotation matrix.

M rotate(M m, T angle)
pure @safe @nogc nothrow
M
rotate
(
M
T
)
(
in M m
,
in T angle
)
if (
isMat!(3, 3, M) &&
isFloatingPoint!T
)
M rotate(M m, T angle)
M rotate(M m, T angle, V axis)
M rotate(M m, T angle, V axis)
M rotate(M m, T angle, T x, T y, T z)

Examples

import gfx.math.approx : approxUlp;
import std.math : PI;

immutable m = DMat3( 1, 2, 3, 4, 5, 6, 7, 8, 9 );

immutable expected = rotation!double(PI) * m; // full multiplication
immutable result = rotate(m, PI);      // simplified multiplication

assert (approxUlp(expected, result));

import gfx.math.approx : approxUlp;
import std.math : PI;

immutable m = DMat4( 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16 );
immutable angle = PI;
immutable v = fvec(3, 4, 5);

immutable expected = rotation(angle, v) * m; // full multiplication
immutable result = rotate(m, angle, v);      // simplified multiplication

assert (approxUlp(expected, result));

rotate

Examples

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Source