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Fixed Rotate function and precomputed SinTheta and CosTheta

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Kyle De'Vir
2016-06-05 18:02:55 +10:00
parent f8ef00f23d
commit 693551b11a
1 changed files with 16 additions and 13 deletions
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29
HandmadeMath.h
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@@ -800,19 +800,22 @@ hmm_mat4
HMM_Rotate(float Angle, hmm_vec3 Axis)
{
hmm_mat4 Result = HMM_Mat4d(1.0f);
Result.Elements[0][0] = Axis.X * Axis.X * (1.0f - cosf(HMM_ToRadians(Angle))) + cosf(HMM_ToRadians(Angle));
Result.Elements[0][1] = Axis.Y * Axis.X * (1.0f - cosf(HMM_ToRadians(Angle))) + Axis.Z * (sinf(HMM_ToRadians(Angle)));
Result.Elements[0][2] = Axis.X * Axis.Z * (1.0f - cosf(HMM_ToRadians(Angle))) - Axis.Y * (sinf(HMM_ToRadians(Angle)));
Result.Elements[1][0] = Axis.X * Axis.Y * (1.0f - cosf(HMM_ToRadians(Angle))) - Axis.Z * (sinf(HMM_ToRadians(Angle)));
Result.Elements[1][1] = Axis.Y * Axis.Y * (1.0f - cosf(HMM_ToRadians(Angle))) + (cosf(HMM_ToRadians(Angle)));
Result.Elements[1][2] = Axis.Y * Axis.Z * (1.0f - cosf(HMM_ToRadians(Angle))) + Axis.X * (sinf(HMM_ToRadians(Angle)));
Result.Elements[2][0] = Axis.X * Axis.Z * (1.0f - cosf(HMM_ToRadians(Angle))) + Axis.Y * (sinf(HMM_ToRadians(Angle)));
Result.Elements[2][1] = Axis.Y * Axis.Z * (1.0f - cosf(HMM_ToRadians(Angle))) - Axis.X * (sinf(HMM_ToRadians(Angle)));
Result.Elements[2][2] = Axis.Z * Axis.Z * (1.0f - cosf(HMM_ToRadians(Angle))) * (cosf(HMM_ToRadians(Angle)));
SinTheta = sinf(HMM_ToRadians(Angle));
CosTheta = cosf(HMM_ToRadians(Angle));
Result.Elements[0][0] = (Axis.X * Axis.X * (1.0f - CosTheta)) + CosTheta;
Result.Elements[0][1] = (Axis.X * Axis.Y * (1.0f - CosTheta)) - (Axis.Z * SinTheta);
Result.Elements[0][2] = (Axis.X * Axis.Z * (1.0f - CosTheta)) + (Axis.Y * SinTheta);
Result.Elements[1][0] = (Axis.X * Axis.Y * (1.0f - CosTheta)) + (Axis.Z * SinTheta);
Result.Elements[1][1] = (Axis.Y * Axis.Y * (1.0f - CosTheta)) + CosTheta;
Result.Elements[1][2] = (Axis.Y * Axis.Z * (1.0f - CosTheta)) - (Axis.X * SinTheta);
Result.Elements[2][0] = (Axis.X * Axis.Z * (1.0f - CosTheta)) - (Axis.Y * SinTheta);
Result.Elements[2][1] = (Axis.Y * Axis.Z * (1.0f - CosTheta)) + (Axis.X * SinTheta);
Result.Elements[2][2] = (Axis.Z * Axis.Z * (1.0f - CosTheta)) + CosTheta);
return (Result);
}