1 files changed, 45 insertions, 4 deletions
diff --git a/src/raymath.c b/src/raymath.c
index e598b381..ed45ee92 100644
--- a/src/raymath.c
+++ b/src/raymath.c
@@ -329,8 +329,6 @@ void MatrixInvert(Matrix *mat)
     // Calculate the invert determinant (inlined to avoid double-caching)
     float invDet = 1/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
 
-    printf("%f\n", invDet);
-
     temp.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet;
     temp.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet;
     temp.m2 = (a31*b05 - a32*b04 + a33*b03)*invDet;
@@ -492,6 +490,48 @@ Matrix MatrixRotate(float angleX, float angleY, float angleZ)
     return result;
 }
 
+/*
+Matrix MatrixRotate(float angle, float x, float y, float z)
+{
+    Matrix result = MatrixIdentity();
+
+    float c = cosf(angle*DEG2RAD);    // cosine
+    float s = sinf(angle*DEG2RAD);    // sine
+    float c1 = 1.0f - c;              // 1 - c
+    
+    float m0 = result.m0, m4 = result.m4, m8 = result.m8, m12 = result.m12,
+          m1 = result.m1, m5 = result.m5, m9 = result.m9,  m13 = result.m13,
+          m2 = result.m2, m6 = result.m6, m10 = result.m10, m14 = result.m14;
+
+    // build rotation matrix
+    float r0 = x * x * c1 + c;
+    float r1 = x * y * c1 + z * s;
+    float r2 = x * z * c1 - y * s;
+    float r4 = x * y * c1 - z * s;
+    float r5 = y * y * c1 + c;
+    float r6 = y * z * c1 + x * s;
+    float r8 = x * z * c1 + y * s;
+    float r9 = y * z * c1 - x * s;
+    float r10= z * z * c1 + c;
+
+    // multiply rotation matrix
+    result.m0 = r0*m0 + r4*m1 + r8*m2;
+    result.m1 = r1*m0 + r5*m1 + r9*m2;
+    result.m2 = r2*m0 + r6*m1 + r10*m2;
+    result.m4 = r0*m4 + r4*m5 + r8*m6;
+    result.m5 = r1*m4 + r5*m5 + r9*m6;
+    result.m6 = r2*m4 + r6*m5 + r10*m6;
+    result.m8 = r0*m8 + r4*m9 + r8*m10;
+    result.m9 = r1*m8 + r5*m9 + r9*m10;
+    result.m10 = r2*m8 + r6*m9 + r10*m10;
+    result.m12 = r0*m12+ r4*m13 + r8*m14;
+    result.m13 = r1*m12+ r5*m13 + r9*m14;
+    result.m14 = r2*m12+ r6*m13 + r10*m14;
+
+    return result;
+}
+*/
+
 // Create rotation matrix from axis and angle
 // TODO: Test this function
 // NOTE: NO prototype defined!
@@ -559,8 +599,8 @@ Matrix MatrixFromAxisAngle2(Vector3 axis, float angle)
     float axisX = axis.x, axisY = axis.y, axisZ = axis.y;
 
     // Calculate angles
-    float cosres = (float)cos(-angle);
-    float sinres = (float)sin(-angle);
+    float cosres = (float)cos(angle);
+    float sinres = (float)sin(angle);
     float t = 1.0f - cosres;
 
     // Do the conversion math once
@@ -668,6 +708,7 @@ Matrix MatrixScale(float x, float y, float z)
 
 // Returns transformation matrix for a given translation, rotation and scale
 // NOTE: Transformation order is rotation -> scale -> translation
+// NOTE: Rotation angles should come in radians
 Matrix MatrixTransform(Vector3 translation, Vector3 rotation, Vector3 scale)
 {
     Matrix result = MatrixIdentity();