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| author | David Thompson <dthompson2@worcester.edu> | 2019-10-11 17:10:23 -0400 |
|---|---|---|
| committer | David Thompson <dthompson2@worcester.edu> | 2019-10-11 17:10:23 -0400 |
| commit | c96755203de5db668d4aba3d5aec90053c13296d (patch) | |
| tree | d6aa5b9cddf3e458e8bafc9fc0e1e032b36bb3a2 | |
| parent | f85d5ba0a00e25bf063b8f9c993c815490bc483a (diff) | |
math: matrix: Add procedures for X and Y axis rotations.
| -rw-r--r-- | chickadee/math/matrix.scm | 30 |
1 files changed, 30 insertions, 0 deletions
diff --git a/chickadee/math/matrix.scm b/chickadee/math/matrix.scm index 3e73f0c..27b2fc7 100644 --- a/chickadee/math/matrix.scm +++ b/chickadee/math/matrix.scm @@ -42,6 +42,10 @@ matrix4-scale matrix4-rotate! matrix4-rotate + matrix4-rotate-x! + matrix4-rotate-x + matrix4-rotate-y! + matrix4-rotate-y matrix4-rotate-z! matrix4-rotate-z matrix4-2d-transform! @@ -367,6 +371,32 @@ clipping plane NEAR and FAR." (matrix4-rotate! matrix q) matrix)) +(define (matrix4-rotate-x! matrix angle) + (init-matrix4 matrix + 1.0 0.0 0.0 0.0 + 0.0 (cos angle) (- (sin angle)) 0.0 + 0.0 (sin angle) (cos angle) 0.0 + 0.0 0.0 0.0 1.0)) + +(define (matrix4-rotate-x angle) + "Return a new matrix that rotates about the X axis by ANGLE radians." + (let ((matrix (make-null-matrix4))) + (matrix4-rotate-x! matrix angle) + matrix)) + +(define (matrix4-rotate-y! matrix angle) + (init-matrix4 matrix + (cos angle) 0.0 (- (sin angle)) 0.0 + 0.0 1.0 0.0 0.0 + (sin angle) 0.0 (cos angle) 0.0 + 0.0 0.0 0.0 1.0)) + +(define (matrix4-rotate-y angle) + "Return a new matrix that rotates about the Y axis by ANGLE radians." + (let ((matrix (make-null-matrix4))) + (matrix4-rotate-y! matrix angle) + matrix)) + (define (matrix4-rotate-z! matrix angle) (init-matrix4 matrix (cos angle) (- (sin angle)) 0.0 0.0 |