create_rotation_matrix()

Eigen::MatrixXd MayaFlux::Yantra::create_rotation_matrix	(	double	angle,
		uint32_t	axis,
		uint32_t	dimensions
	)

Definition at line 5 of file MatrixHelper.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);
}