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Quaternions 2024-09-26 15:06:38 -07:00
parent b879b09369
commit ba6a2bd670
1 changed files with 2 additions and 2 deletions
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4
src/integer.rs
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@ -571,7 +571,7 @@ pub mod mat3{
pub fn from_rotation_yx(x:Angle32,y:Angle32)->Planar64Mat3{ pub fn from_rotation_yx(x:Angle32,y:Angle32)->Planar64Mat3{
let (xc,xs)=x.cos_sin(); let (xc,xs)=x.cos_sin();
let (yc,ys)=y.cos_sin(); let (yc,ys)=y.cos_sin();
Planar64Mat3::from_rows([ Planar64Mat3::from_cols([
Planar64Vec3::new([xc,Planar64::ZERO,-xs]), Planar64Vec3::new([xc,Planar64::ZERO,-xs]),
Planar64Vec3::new([(xs*ys).fix_1(),yc,(xc*ys).fix_1()]), Planar64Vec3::new([(xs*ys).fix_1(),yc,(xc*ys).fix_1()]),
Planar64Vec3::new([(xs*yc).fix_1(),-ys,(xc*yc).fix_1()]), Planar64Vec3::new([(xs*yc).fix_1(),-ys,(xc*yc).fix_1()]),
@ -580,7 +580,7 @@ pub mod mat3{
#[inline] #[inline]
pub fn from_rotation_y(y:Angle32)->Planar64Mat3{ pub fn from_rotation_y(y:Angle32)->Planar64Mat3{
let (c,s)=y.cos_sin(); let (c,s)=y.cos_sin();
Planar64Mat3::from_rows([ Planar64Mat3::from_cols([
Planar64Vec3::new([c,Planar64::ZERO,-s]), Planar64Vec3::new([c,Planar64::ZERO,-s]),
vec3::Y, vec3::Y,
Planar64Vec3::new([s,Planar64::ZERO,c]), Planar64Vec3::new([s,Planar64::ZERO,c]),