From a8063a2be20d5a1c43588be18a02b4a4ba9891e6 Mon Sep 17 00:00:00 2001
From: Justin Lin <caterpillar@openhome.cc>
Date: Sun, 28 Apr 2019 15:40:42 +0800
Subject: [PATCH] add  m_rotation

---
 src/m_rotation.scad | 34 ++++++++++++++++++++++++++++++++++
 1 file changed, 34 insertions(+)
 create mode 100644 src/m_rotation.scad

diff --git a/src/m_rotation.scad b/src/m_rotation.scad
new file mode 100644
index 00000000..c141cb40
--- /dev/null
+++ b/src/m_rotation.scad
@@ -0,0 +1,34 @@
+include <__private__/_m_multiply.scad>;
+
+function _m_xRotation(a) = 
+    let(c = cos(a), s = sin(a))
+    [
+        [1, 0, 0, 0],
+        [0, c, -s, 0],
+        [0, s, c, 0],
+        [0, 0, 0, 1]
+    ];
+
+function _m_yRotation(a) = 
+    let(c = cos(a), s = sin(a))
+    [
+        [c, 0, s, 0],
+        [0, 1, 0, 0],
+        [-s, 0, c, 0],
+        [0, 0, 0, 1]
+    ];    
+
+function _m_zRotation(a) = 
+    let(c = cos(a), s = sin(a))
+    [
+        [c, -s, 0, 0],
+        [s, c, 0, 0],
+        [0, 0, 1, 0],
+        [0, 0, 0, 1]
+    ];    
+
+function m_rotation(a) = _m_multiply(
+    _m_zRotation(a[2]), _m_multiply(
+        _m_yRotation(a[1]), _m_xRotation(a[0])
+    )
+);