## rotate3d (`lygia`/`math`/`rotate3d`)

returns a 3x3 rotation matrix

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;
vec3 col1 = vec3(oc * a.x * a.x + c, oc * a.x * a.y + a.z * s, oc * a.z * a.x - a.y * s);
vec3 col2 = vec3(oc * a.x * a.y - a.z * s, oc * a.y * a.y + c, oc * a.y * a.z + a.x * s);
vec3 col3 = vec3(oc * a.z * a.x + a.y * s, oc * a.y * a.z - a.x * s, oc * a.z * a.z + c);
return mat3(col1, col2, col3);
}
#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 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

``````

Use:

``````<matrix<float, 3, 3>> rotate3d(<float3> axis, <float> radians)
``````

Check it on Github

``````
#ifndef FNC_ROTATE3D
#define FNC_ROTATE3D
matrix<float, 3, 3> rotate3d(float3 a, const float r) {
a = normalize(a);
float s = sin(r);
float c = cos(r);
float oc = 1.0 - c;
return matrix<float, 3, 3>(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

``````

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 );
}

``````