@phaserjs/phaser/math/mat4/Mat4Rotate.js

Phaser 4

import { Matrix4 } from "./Matrix4";
export function Mat4Rotate(matrix, angle, axis, out = new Matrix4()) {
  let { x, y, z } = axis;
  let len = Math.hypot(x, y, z);
  if (len < 1e-5) {
    return null;
  }
  len = 1 / len;
  x *= len;
  y *= len;
  z *= len;
  const s = Math.sin(angle);
  const c = Math.cos(angle);
  const t = 1 - c;
  const [a00, a01, a02, a03, a10, a11, a12, a13, a20, a21, a22, a23, a30, a31, a32, a33] = matrix.data;
  const b00 = x * x * t + c;
  const b01 = y * x * t + z * s;
  const b02 = z * x * t - y * s;
  const b10 = x * y * t - z * s;
  const b11 = y * y * t + c;
  const b12 = z * y * t + x * s;
  const b20 = x * z * t + y * s;
  const b21 = y * z * t - x * s;
  const b22 = z * z * t + c;
  return out.set(a00 * b00 + a10 * b01 + a20 * b02, a01 * b00 + a11 * b01 + a21 * b02, a02 * b00 + a12 * b01 + a22 * b02, a03 * b00 + a13 * b01 + a23 * b02, a00 * b10 + a10 * b11 + a20 * b12, a01 * b10 + a11 * b11 + a21 * b12, a02 * b10 + a12 * b11 + a22 * b12, a03 * b10 + a13 * b11 + a23 * b12, a00 * b20 + a10 * b21 + a20 * b22, a01 * b20 + a11 * b21 + a21 * b22, a02 * b20 + a12 * b21 + a22 * b22, a03 * b20 + a13 * b21 + a23 * b22, a30, a31, a32, a33);
}