create_rotation_matrix()

Eigen::MatrixXd MayaFlux::Kinesis::create_rotation_matrix	(	double	angle,
		uint32_t	axis = 2,
		uint32_t	dimensions = 2
	)

Create N-dimensional rotation matrix.

Parameters

angle	Rotation angle in radians
axis	Rotation axis index (0=X, 1=Y, 2=Z). Only used when dimensions >= 3
dimensions	Dimensionality of the rotation (2 or 3 supported directly, higher dimensions return identity)

Returns

Rotation matrix as Eigen::MatrixXd

Definition at line 5 of file MatrixTransforms.cpp.

{
    if (dimensions == 2) {
        Eigen::Matrix2d rotation;
        rotation << std::cos(angle), -std::sin(angle),
            std::sin(angle), std::cos(angle);
        return rotation;
    }
 
    if (dimensions == 3) {
        Eigen::Matrix3d rotation = Eigen::Matrix3d::Identity();
 
        switch (axis) {
        case 0:
            rotation << 1, 0, 0,
                0, std::cos(angle), -std::sin(angle),
                0, std::sin(angle), std::cos(angle);
            break;
        case 1:
            rotation << std::cos(angle), 0, std::sin(angle),
                0, 1, 0,
                -std::sin(angle), 0, std::cos(angle);
            break;
        case 2:
        default:
            rotation << std::cos(angle), -std::sin(angle), 0,
                std::sin(angle), std::cos(angle), 0,
                0, 0, 1;
            break;
        }
        return rotation;
    }
 
    return Eigen::MatrixXd::Identity(dimensions, dimensions);
}

Referenced by create_rotation_scaling_matrix().

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