/// Rotate about the local up axis
public void yaw(float angleDeg)
{
Matrix3 rotate = new Matrix3 ();
rotate.setRotateAxis (this.Up, angleDeg);
m_rotation.Right *= rotate;
m_rotation.Forward *= rotate;
}
// Rotate about "axis" through origin
public void rotateWorld(Vector3 axis, float angleDeg)
{
Matrix3 rotate = new Matrix3 ();
rotate.setRotateAxis (axis, angleDeg);
m_rotation *= rotate;
m_position *= rotate;
}
/// Rotate about the local right axis
public void pitch(float angleDeg)
{
Matrix3 rotate = new Matrix3 ();
rotate.setRotateAxis (this.Right, angleDeg);
m_rotation.Up *= rotate;
m_rotation.Forward *= rotate;
}
/// Rotate about "axis" through "p"
public void rotateAboutPoint(Vector3 p, Vector3 axis, float angleDeg)
{
Matrix3 rotate = new Matrix3 ();
rotate.setRotateAxis (axis, angleDeg);
m_rotation *= rotate;
m_position *= rotate;
m_position += -p * rotate + p;
}
// rotate about "axis" through "p"
public static Matrix4 createRotationAboutPoint(Vector3 p, Vector3 axis, float angleDeg)
{
Matrix3 rotate = new Matrix3 ();
rotate.setRotateAxis (axis, angleDeg);
Vector3 translation = -p * rotate + p;
return (new Matrix4 (rotate, translation));
}
