| 108 |
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RotMat3x3d rot = RotMat3x3d::identity(); // initalize rot as a unit matrix |
| 109 |
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| 110 |
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// use a small angle aproximation for sin and cosine |
| 111 |
< |
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| 111 |
> |
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| 112 |
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angleSqr = angle * angle; |
| 113 |
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angleSqrOver4 = angleSqr / 4.0; |
| 114 |
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top = 1.0 - angleSqrOver4; |
| 116 |
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| 117 |
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cosAngle = top / bottom; |
| 118 |
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sinAngle = angle / bottom; |
| 119 |
< |
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| 119 |
> |
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| 120 |
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// or don't use the small angle approximation: |
| 121 |
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//cosAngle = cos(angle); |
| 122 |
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//sinAngle = sin(angle); |
| 123 |
– |
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| 123 |
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rot(axes1, axes1) = cosAngle; |
| 124 |
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rot(axes2, axes2) = cosAngle; |
| 125 |
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