Added math::Axis::rotate() variant.

2 files changed, 7 insertions, 4 deletions

diff --git a/src/math/axis.cc b/src/math/axis.cc
index 60d3797..a5ea397 100644
--- a/src/math/axis.cc
+++ b/src/math/axis.cc
@@ -104,11 +104,8 @@ void Axis::change_roll(const float angle)
 /* notes:
 	http://mathworld.wolfram.com/RotationFormula.html
 */
-void Axis::rotate(Vector3f const &normal, float rad)
+void Axis::rotate(Vector3f const &normal, float cosa, float sina)
 {
-	float cosa = cosf(rad);
-	float sina = sinf(rad);
-
 	for (size_t i = 0; i < 3; i++) {
 		axis_vector[i] =
 			axis_vector[i] * cosa +
@@ -116,6 +113,10 @@ void Axis::rotate(Vector3f const &normal, float rad)
 			crossproduct(axis_vector[i], normal) * sina;
 	}
 }
+void Axis::rotate(Vector3f const &normal, float rad)
+{
+	rotate(normal, cosf(rad), sinf(rad));
+}
 
 const Axis Axis::transpose() const
 {
diff --git a/src/math/axis.h b/src/math/axis.h
index 3991843..ef90654 100644
--- a/src/math/axis.h
+++ b/src/math/axis.h
@@ -86,6 +86,8 @@ public:
 	 * @brief rotation about an arbitrary vector
 	 * @param rad angle in radians
 	 **/
+	void rotate(Vector3f const &normal, float cosa, float sina);
+	
 	void rotate(const Vector3f & normal, const float rad);
 
 	/// return the transpose of this matrix