/// <summary>
/// Creates a rotation matrix around an arbitrary axis (Eulers Theorem).
/// </summary>
/// <param name="c"> Cosine of the angle of the rotation.</param>
/// <param name="s"> Sine of the angle of the rotation.</param>
/// <param name="axis"><see cref="Vector3"/> object that represents axis of rotation.</param>
/// <param name="t"> Optional translation vector.</param>
/// <returns>A new rotation matrix around an arbitrary axis.</returns>
public static Matrix34 CreateRotationAroundAxis(float c, float s, Vector3 axis, Vector3 t = default(Vector3))
{
var matrix = new Matrix34();
matrix.SetRotationAroundAxis(c, s, axis, t);
return(matrix);
}
/// <summary>
/// Creates a rotation matrix around an arbitrary axis (Eulers Theorem).
/// </summary>
/// <param name="rot">
/// <see cref="Vector3"/> object which length represents an angle of rotation and which
/// direction represents an axis of rotation.
/// </param>
/// <param name="t"> Optional translation vector.</param>
/// <returns>A new rotation matrix.</returns>
public static Matrix34 CreateRotationAroundAxis(Vector3 rot, Vector3 t = default(Vector3))
{
var matrix = new Matrix34();
matrix.SetRotationAroundAxis(rot, t);
return(matrix);
}