From db072ad4dc181eca5a1458656b130beb43f475bf Mon Sep 17 00:00:00 2001
From: 53hornet <53hornet@gmail.com>
Date: Sat, 2 Feb 2019 23:33:15 -0500
Subject: Init.

---
 hw6/src/rotation3d.cpp | 47 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 47 insertions(+)
 create mode 100644 hw6/src/rotation3d.cpp

(limited to 'hw6/src/rotation3d.cpp')

diff --git a/hw6/src/rotation3d.cpp b/hw6/src/rotation3d.cpp
new file mode 100644
index 0000000..13fddd5
--- /dev/null
+++ b/hw6/src/rotation3d.cpp
@@ -0,0 +1,47 @@
+/******************************************************************/
+/* This file is part of the homework assignments for CSCI-427/527 */
+/* at The College of William & Mary and authored by Pieter Peers. */
+/* No part of this file, whether altered or in original form, can */
+/* be distributed or used outside the context of CSCI-427/527     */
+/* without consent of either the College of William & Mary or     */
+/* Pieter Peers.                                                  */
+/******************************************************************/
+#include "constants.h"
+#include "rotation3d.h"
+
+//////////////////
+// Constructors //
+//////////////////
+rotation3d::rotation3d(void) 
+  : transformation3d()
+{
+  // Do Nothing
+}
+
+
+rotation3d::rotation3d(float angle, const vec3d& axis) 
+  : transformation3d()
+{
+  vec3d norm_axis = normalize(axis);
+  float s = sin(angle * PI / 180.0f);
+  float c = cos(angle * PI / 180.0f);
+
+  _transformation(0,0) = c + ((norm_axis.x * norm_axis.x) * (1.0f - c));
+  _transformation(0,1) = -(norm_axis.z * s) + ((norm_axis.x * norm_axis.y) * (1.0f - c));
+  _transformation(0,2) = (norm_axis.y * s) + ((norm_axis.x * norm_axis.z) * (1.0f - c));
+  _transformation(1,0) = (norm_axis.z * s) + ((norm_axis.x * norm_axis.y) * (1.0f - c));
+  _transformation(1,1) = c + ((norm_axis.y * norm_axis.y) * (1.0f - c));
+  _transformation(1,2) = -(norm_axis.x * s) + ((norm_axis.y * norm_axis.z) * (1.0f - c));
+  _transformation(2,0) = -(norm_axis.y * s) + ((norm_axis.x * norm_axis.z) * (1.0f - c));
+  _transformation(2,1) = (norm_axis.x * s) + ((norm_axis.y * norm_axis.z) * (1.0f - c));
+  _transformation(2,2) = c + ((norm_axis.z * norm_axis.z) * (1.0f - c));
+
+  _inverseTransformation = transpose(_transformation);
+}
+
+
+rotation3d::rotation3d(const rotation3d& r) 
+  : transformation3d(r)
+{
+  // Do Nothing
+}
-- 
cgit v1.2.3