/// <summary>
/// Sets the values of this matrix to one that represents a rotation around an axis.
/// </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>
public void SetRotationAroundAxis(float c, float s, Vector3 axis, Vector3 t = default(Vector3))
{
this = new Matrix34(Matrix33.CreateRotationAroundAxis(c, s, axis))
{
M03 = t.X,
M13 = t.Y,
M23 = t.Z
};
}
/// <summary>
/// Sets the values of this matrix to one that represents a rotation around an axis.
/// </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>
public void SetRotationAroundAxis(Vector3 rot, Vector3 t = default(Vector3))
{
this = new Matrix34(Matrix33.CreateRotationAroundAxis(rot));
this.SetTranslation(t);
}
/// <summary>
/// Sets the values of this matrix to one that represents a rotation around an axis.
/// </summary>
/// <param name="rad"> Angle of rotation in radians.</param>
/// <param name="axis">Normalized vector that represents axis of rotation.</param>
/// <param name="t"> Optional translation vector.</param>
public void SetRotationAroundAxis(float rad, Vector3 axis, Vector3 t = default(Vector3))
{
this = new Matrix34(Matrix33.CreateRotationAroundAxis(rad, axis));
this.SetTranslation(t);
}