22 lines
814 B
Mathematica
22 lines
814 B
Mathematica
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function rotMatrix = rot(axis,angle)
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% return a rotation matrix from a rotation around axis about angle
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% axis: 1-x,2-y,3-z
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% angle:
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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switch axis
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case 1
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rotMatrix = [1 0 0;
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0 cos(angle) -sin(angle);
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0 sin(angle) cos(angle)];
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case 2
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rotMatrix = [cos(angle) 0 sin(angle);
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0 1 0;
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-sin(angle) 0 cos(angle)];
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case 3
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rotMatrix = [cos(angle) -sin(angle) 0;
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sin(angle) cos(angle) 0;
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0 0 1];
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otherwise
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rotMatrix = eye(3);
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end
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