| 108 | 
  | 
    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 | 
< | 
 | 
| 111 | 
> | 
    /* | 
| 112 | 
  | 
    angleSqr = angle * angle; | 
| 113 | 
  | 
    angleSqrOver4 = angleSqr / 4.0; | 
| 114 | 
  | 
    top = 1.0 - angleSqrOver4; | 
| 116 | 
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 | 
| 117 | 
  | 
    cosAngle = top / bottom; | 
| 118 | 
  | 
    sinAngle = angle / bottom; | 
| 119 | 
< | 
 | 
| 119 | 
> | 
    */ | 
| 120 | 
  | 
    // or don't use the small angle approximation: | 
| 121 | 
< | 
    //cosAngle = cos(angle); | 
| 122 | 
< | 
    //sinAngle = sin(angle); | 
| 121 | 
> | 
    cosAngle = cos(angle); | 
| 122 | 
> | 
    sinAngle = sin(angle); | 
| 123 | 
> | 
 | 
| 124 | 
  | 
    rot(axes1, axes1) = cosAngle; | 
| 125 | 
  | 
    rot(axes2, axes2) = cosAngle; | 
| 126 | 
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