1 function rx = vecrot(angle, vector)
3 % VECROT: Transformation matrix for a rotation around the axis given by a vector.
7 % rx = vecrot (angle, vector);
11 % angle : rotation angle defined in radians
12 % vector : vector defining the rotation axis
16 % rx : (4x4) Transformation matrix.
21 % Return the (4x4) Transformation matrix for a rotation about the x axis
22 % by the defined angle.
28 % Copyright (C) 2011 Rafael Vazquez
30 % This program is free software: you can redistribute it and/or modify
31 % it under the terms of the GNU General Public License as published by
32 % the Free Software Foundation, either version 2 of the License, or
33 % (at your option) any later version.
35 % This program is distributed in the hope that it will be useful,
36 % but WITHOUT ANY WARRANTY; without even the implied warranty of
37 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
38 % GNU General Public License for more details.
40 % You should have received a copy of the GNU General Public License
41 % along with this program. If not, see <http://www.gnu.org/licenses/>.
43 % Normalize the vector
44 vec = vector / norm (vector);
48 rx = [cn+vec(1)^2*(1-cn), vec(1)*vec(2)*(1-cn)-vec(3)*sn, vec(1)*vec(3)*(1-cn)+vec(2)*sn, 0;
49 vec(1)*vec(2)*(1-cn)+vec(3)*sn, cn+vec(2)^2*(1-cn), vec(2)*vec(3)*(1-cn)-vec(1)*sn, 0;
50 vec(1)*vec(3)*(1-cn)-vec(2)*sn, vec(2)*vec(3)*(1-cn)+vec(1)*sn, cn+vec(3)^2*(1-cn), 0;