RotationMatrix3 Extension Reference


                    
                    
                    make3DRotation(_:_:_:order:orientation:)

Creates a 3-dimensional rotation matrix from a set of rotations around three axis.

The orientation provided affects how angles are interpreted as rotations around each axis.

order: The order of the axis of rotations that the three angles will be interpreted as.
orientation: The [handedness] of the system. Right-handed systems rotate about the axis in a counter-clockwise direction for positive angles, while left-handed systems rotate clockwise with the same positive angles.
angle1InRadians: The first angle of the rotation in radians.
angle2InRadians: The second angle of the rotation in radians.
angle3InRadians: The third angle of the rotation in radians.

Declaration

Swift

@inlinable
static func make3DRotation(_ angle1InRadians: Scalar,
                           _ angle2InRadians: Scalar,
                           _ angle3InRadians: Scalar,
                           order: RotationOrder3,
                           orientation: Orientation3 = .rightHanded) -> Self

Return Value

A rotation matrix that can be used to rotate a vector in 3-space according to the parameters specified.


                    
                    
                    make3DRotationX(_:orientation:)

Creates a 3-dimensional rotation matrix that rotates around the X-axis with a given orientation, by a given angle in radians.

Declaration

Swift

@inlinable
static func make3DRotationX(_ angleInRadians: Scalar, orientation: Orientation3 = .rightHanded) -> RotationMatrix3


                    
                    
                    make3DRotationY(_:orientation:)

Creates a 3-dimensional rotation matrix that rotates around the Y-axis with a given orientation, by a given angle in radians.

Declaration

Swift

@inlinable
static func make3DRotationY(_ angleInRadians: Scalar, orientation: Orientation3 = .rightHanded) -> RotationMatrix3


                    
                    
                    make3DRotationZ(_:orientation:)

Creates a 3-dimensional rotation matrix that rotates around the Y-axis with a given orientation, by a given angle in radians.

Declaration

Swift

@inlinable
static func make3DRotationZ(_ angleInRadians: Scalar, orientation: Orientation3 = .rightHanded) -> RotationMatrix3


                    
                    
                    make3DRotationFromAxisAngle(axis:_:orientation:)

Creates a 3-dimensional rotation matrix that rotates around the given axis with a given orientation, by a given angle in radians.

axis is normalized pior to the creation of the rotation matrix.

Declaration

Swift

static func make3DRotationFromAxisAngle<Vector: Vector3FloatingPoint>(axis: Vector, _ angleInRadians: Scalar, 
                                                                      orientation: Orientation3 = .rightHanded) -> RotationMatrix3 where Vector.Scalar == Scalar


                    
                    
                    make3DRotationBetween(_:_:orientation:)

Creates a 3-dimensional rotation matrix that rotates around a single axis with an angle and direction that when applied to vectorA, turns it into the same direction as vectorB, with a given orientation.

vectorA and vectorB are assumed to be directional vectors, and will be normalized pior to the creation of the rotation matrix.

If vectorA and vectorB point on the same direction, an identity matrix is returned, instead.

Declaration

Swift

static func make3DRotationBetween<Vector: Vector3FloatingPoint>(_ vectorA: Vector, 
                                                                _ vectorB: Vector,
                                                                orientation: Orientation3 = .rightHanded) -> RotationMatrix3 where Vector.Scalar == Scalar