public static Matrix34 RotationMatrix(float x, float y, float z)
{
float cosx = (float)Math.Cos(x / 180.0f * Math.PI);
float sinx = (float)Math.Sin(x / 180.0f * Math.PI);
float cosy = (float)Math.Cos(y / 180.0f * Math.PI);
float siny = (float)Math.Sin(y / 180.0f * Math.PI);
float cosz = (float)Math.Cos(z / 180.0f * Math.PI);
float sinz = (float)Math.Sin(z / 180.0f * Math.PI);
Matrix34 m = Identity;
float * p = (float *)&m;
p[5] = cosx;
p[6] = -sinx;
p[9] = sinx;
p[10] = cosx;
Matrix34 m2 = Identity;
float * p2 = (float *)&m2;
p2[0] = cosy;
p2[2] = siny;
p2[8] = -siny;
p2[10] = cosy;
Matrix34 m3 = Identity;
float * p3 = (float *)&m3;
p3[0] = cosz;
p3[1] = -sinz;
p3[4] = sinz;
p3[5] = cosz;
m.Multiply(&m2);
m.Multiply(&m3);
//p[0] = cosy * cosz;
//p[1] = cosy * sinz;
//p[2] = -siny;
//p[4] = (sinx * siny * cosz - cosx * sinz);
//p[5] = (sinx * siny * sinz + cosx * cosz);
//p[6] = sinx * cosy;
//p[8] = (cosx * siny * cosz + sinx * sinz);
//p[9] = (cosx * siny * sinz - sinx * cosz);
//p[10] = cosx * cosy;
return(m);
}
