/*
 * rot.h
 *
 * FUNCTION:
 * rotation matrix utilities
 *
 * HISTORY:
 * Linas Vepstas Aug 1990
 */

/* ========================================================== */
/* 
 * The MACROS below generate and return more traditional rotation
 * matrices -- matrices for rotations about principal axes.
 */
/* ========================================================== */

#define ROTX_CS(m,cosine,sine)		\
{					\
   /* rotation about the x-axis */	\
					\
   m[0][0] = 1.0;			\
   m[0][1] = 0.0;			\
   m[0][2] = 0.0;			\
   m[0][3] = 0.0;			\
					\
   m[1][0] = 0.0;			\
   m[1][1] = (cosine);			\
   m[1][2] = (sine);			\
   m[1][3] = 0.0;			\
					\
   m[2][0] = 0.0;			\
   m[2][1] = -(sine);			\
   m[2][2] = (cosine);			\
   m[2][3] = 0.0;			\
					\
   m[3][0] = 0.0;			\
   m[3][1] = 0.0;			\
   m[3][2] = 0.0;			\
   m[3][3] = 1.0;			\
}				

/* ========================================================== */

#define ROTY_CS(m,cosine,sine)		\
{					\
   /* rotation about the y-axis */	\
					\
   m[0][0] = (cosine);			\
   m[0][1] = 0.0;			\
   m[0][2] = -(sine);			\
   m[0][3] = 0.0;			\
					\
   m[1][0] = 0.0;			\
   m[1][1] = 1.0;			\
   m[1][2] = 0.0;			\
   m[1][3] = 0.0;			\
					\
   m[2][0] = (sine);			\
   m[2][1] = 0.0;			\
   m[2][2] = (cosine);			\
   m[2][3] = 0.0;			\
					\
   m[3][0] = 0.0;			\
   m[3][1] = 0.0;			\
   m[3][2] = 0.0;			\
   m[3][3] = 1.0;			\
}

/* ========================================================== */

#define ROTZ_CS(m,cosine,sine)		\
{					\
   /* rotation about the z-axis */	\
					\
   m[0][0] = (cosine);			\
   m[0][1] = (sine);			\
   m[0][2] = 0.0;			\
   m[0][3] = 0.0;			\
					\
   m[1][0] = -(sine);			\
   m[1][1] = (cosine);			\
   m[1][2] = 0.0;			\
   m[1][3] = 0.0;			\
					\
   m[2][0] = 0.0;			\
   m[2][1] = 0.0;			\
   m[2][2] = 1.0;			\
   m[2][3] = 0.0;			\
					\
   m[3][0] = 0.0;			\
   m[3][1] = 0.0;			\
   m[3][2] = 0.0;			\
   m[3][3] = 1.0;			\
}

/* ========================================================== */