public EDVector3 translate(EDVector3 vec) {
float x = vec.x * this.mat[0] + vec.y * this.mat[1] + vec.z * this.mat[2] + this.mat[3];
float y = vec.x * this.mat[4] + vec.y * this.mat[5] + vec.z * this.mat[6] + this.mat[7];
float z = vec.x * this.mat[8] + vec.y * this.mat[9] + vec.z * this.mat[10] + this.mat[11];
vec.x = x;
vec.y = y;
vec.z = z;
return vec;
}
public static EDMatrix4 rotationMat(double angle, EDVector3 axis) {
axis = axis.copy().normalize();
float x = axis.x;
float y = axis.y;
float z = axis.z;
angle *= 0.0174532925D;
float cos = (float) Math.cos(angle);
float ocos = 1.0F - cos;
float sin = (float) Math.sin(angle);
EDMatrix4 rotmat = new EDMatrix4();
rotmat.mat[0] = (x * x * ocos + cos);
rotmat.mat[1] = (y * x * ocos + z * sin);
rotmat.mat[2] = (x * z * ocos - y * sin);
rotmat.mat[4] = (x * y * ocos - z * sin);
rotmat.mat[5] = (y * y * ocos + cos);
rotmat.mat[6] = (y * z * ocos + x * sin);
rotmat.mat[8] = (x * z * ocos + y * sin);
rotmat.mat[9] = (y * z * ocos - x * sin);
rotmat.mat[10] = (z * z * ocos + cos);
rotmat.mat[15] = 1.0F;
return rotmat;
}