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#include "PxTkMatrixUtils.h"

using namespace PxToolkit;

void PxToolkit::setRotX(PxMat33& m, PxReal angle)
{
	m = PxMat33(PxIdentity);

	const PxReal cos = cosf(angle);
	const PxReal sin = sinf(angle);

	m[1][1] = m[2][2] = cos;
	m[1][2] = sin;
	m[2][1] = -sin;
}

void PxToolkit::setRotY(PxMat33& m, PxReal angle)
{
	m = PxMat33(PxIdentity);

	const PxReal cos = cosf(angle);
	const PxReal sin = sinf(angle);

	m[0][0] = m[2][2] = cos;
	m[0][2] = -sin;
	m[2][0] = sin;
}

void PxToolkit::setRotZ(PxMat33& m, PxReal angle)
{
	m = PxMat33(PxIdentity);

	const PxReal cos = cosf(angle);
	const PxReal sin = sinf(angle);

	m[0][0] = m[1][1] = cos;
	m[0][1] = sin;
	m[1][0] = -sin;
}

PxQuat PxToolkit::getRotXQuat(float angle)
{
	PxMat33 m;
	setRotX(m, angle);
	return PxQuat(m);
}

PxQuat PxToolkit::getRotYQuat(float angle)
{
	PxMat33 m;
	setRotY(m, angle);
	return PxQuat(m);
}

PxQuat PxToolkit::getRotZQuat(float angle)
{
	PxMat33 m;
	setRotZ(m, angle);
	return PxQuat(m);
}