LYGIA Shader Library

Use:

<mat3> rotate3d(<vec3> axis, <float> radians)

Check it on Github

#ifndef FNC_ROTATE3D
#define FNC_ROTATE3D
mat3 rotate3d(in vec3 a, const in float r) {
    a = normalize(a);
    float s = sin(r);
    float c = cos(r);
    float oc = 1.0 - c;
    return mat3(oc * a.x * a.x + c,           oc * a.x * a.y - a.z * s,  oc * a.z * a.x + a.y * s,
                oc * a.x * a.y + a.z * s,  oc * a.y * a.y + c,           oc * a.y * a.z - a.x * s,
                oc * a.z * a.x - a.y * s,  oc * a.y * a.z + a.x * s,  oc * a.z * a.z + c );
}
#endif

Use:

<float3x3> rotate3d(<float3> axis, <float> radians)

Check it on Github

#ifndef FNC_ROTATE3D
#define FNC_ROTATE3D
float3x3 rotate3d(in float3 axis, in float radians) {
    axis = normalize(axis);
    float s = sin(radians);
    float c = cos(radians);
    float oc = 1.0 - c;

    return float3x3(oc * axis.x * axis.x + c,           oc * axis.x * axis.y - axis.z * s,  oc * axis.z * axis.x + axis.y * s,
                    oc * axis.x * axis.y + axis.z * s,  oc * axis.y * axis.y + c,           oc * axis.y * axis.z - axis.x * s,
                    oc * axis.z * axis.x - axis.y * s,  oc * axis.y * axis.z + axis.x * s,  oc * axis.z * axis.z + c );
}
#endif

Check it on Github

fn rotate3d(a: vec3f, r: f32) > mat3x3<f32> {
    let s = sin(r);
    let c = cos(r);
    let oc = 1.0 - c;
    return mat3x3<f32>( oc * a.x * a.x + c,           oc * a.x * a.y - a.z * s,  oc * a.z * a.x + a.y * s,
                        oc * a.x * a.y + a.z * s,  oc * a.y * a.y + c,           oc * a.y * a.z - a.x * s,
                        oc * a.z * a.x - a.y * s,  oc * a.y * a.z + a.x * s,  oc * a.z * a.z + c );
}