/// <summary>
/// Rotation matrix for OZ.
/// </summary>
/// <param name="angle">Rotation angle in degrees</param>
/// <returns>OZ rotation matrix</returns>
private Matrix4x4 BuildRotationZMatrix(float angle)
{
Matrix4x4 rotationZ = Matrix4x4.Identity;
float rad = MathExtension.ToRadians(angle);
float cos = (float)Math.Cos(rad);
float sin = (float)Math.Sin(rad);
rotationZ.M11 = cos;
rotationZ.M12 = -sin;
rotationZ.M21 = sin;
rotationZ.M22 = cos;
return(rotationZ);
}
/// <summary>
/// Rotation matrix for OX.
/// </summary>
/// <param name="angle">Rotation angle in degrees</param>
/// <returns>OX rotation matrix</returns>
private Matrix4x4 BuildRotationXMatrix(float angle)
{
Matrix4x4 rotationX = Matrix4x4.Identity;
float rad = MathExtension.ToRadians(angle);
float cos = (float)Math.Cos(rad);
float sin = (float)Math.Sin(rad);
rotationX.M22 = cos;
rotationX.M23 = -sin;
rotationX.M32 = sin;
rotationX.M33 = cos;
return(rotationX);
}
/// <summary>
/// Rotation matrix for OY.
/// </summary>
/// <param name="angle">Rotation angle in degrees</param>
/// <returns>OY rotation matrix</returns>
private Matrix4x4 BuildRotationYMatrix(float angle)
{
Matrix4x4 rotationY = Matrix4x4.Identity;
float rad = MathExtension.ToRadians(angle);
float cos = (float)Math.Cos(rad);
float sin = (float)Math.Sin(rad);
rotationY.M11 = cos;
rotationY.M13 = sin;
rotationY.M31 = -sin;
rotationY.M33 = cos;
return(rotationY);
}