(Euler->M [θ φ ψ])Compute the rotation matrix from a set of Euler angles.
Compute the rotation matrix from a set of Euler angles.
(rotate-x-matrix α)Produce the matrix of a rotation of α radians about the x axis.
Produce the matrix of a rotation of α radians about the x axis.
(rotate-x-tuple α)(rotate-y-matrix α)Produce the matrix of a rotation of α radians about the y axis.
Produce the matrix of a rotation of α radians about the y axis.
(rotate-y-tuple α)(rotate-y-tuple-2 c s)(rotate-z-matrix α)Produce the matrix of a rotation of α radians about the z axis.
Produce the matrix of a rotation of α radians about the z axis.
(rotate-z-tuple α)(Rx α)Returns a function which rotates a vector α radians about the x axis.
Returns a function which rotates a vector α radians about the x axis.
(Ry α)Returns a function which rotates a vector α radians about the y axis.
Returns a function which rotates a vector α radians about the y axis.
(Rz α)Returns a function which rotates a vector α radians about the z axis.
Returns a function which rotates a vector α radians about the z axis.
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