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BitPuffin/gist:7809816

Created December 5, 2013 17:38
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gistfile1.nim
proc rotate(axis: TVector, angle: float): TMat4 =
result = [[cos(angle) + (1 - cos(angle))*axis[0].pow(2.0), (1 - cos(angle))*axis[0]*axis[1] - axis[2]*sin(angle), (1 - cos(angle))*axis[0]*axis[2] + axis[1]*sin(angle), 0],
[(1 - cos(angle))*axis[0]*axis[1] + axis[2]*sin(angle), cos(angle) + (1 - cos(angle))*axis[1].pow(2.0), (1 - cos(angle))*axis[1]*axis[2] - axis[0]*sin(angle), 0],
[(1 - cos(angle))*axis[0]*axis[2] - axis[1]*sin(angle), (1 - cos(angle))*axis[1]*axis[2] + axis[0]*sin(angle), cos(angle) + (1 - cos(angle))*axis[2].pow(2.0), 0],
[0f32, 0f32, 0f32, 1f32]]
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