@woosh/meep-engine/src/core/geom/3d/mat4/m4_rotation_translation.js

Pure JavaScript game engine. Fully featured and production ready.

/**
 * Compose a 4x4 transformation matrix from 3x3 rotation matrix and a translation vector
 * @param {number[]} output 4x4 matrix
 * @param {number[]} rotation_matrix 3x3 mat
 * @param {number[]} translation 3d vector
 * @returns {number[]} `output` parameter
 * @see m4_inverse_rotation_translation
 */
export function m4_rotation_translation(output, rotation_matrix, translation) {
    const r = rotation_matrix;

    output[0] = r[0];
    output[1] = r[1];
    output[2] = r[2];
    output[3] = 0;

    output[4] = r[3];
    output[5] = r[4];
    output[6] = r[5];
    output[7] = 0;

    output[8] = r[6];
    output[9] = r[7];
    output[10] = r[8];
    output[11] = 0;

    const t = translation;

    output[12] = t[0];
    output[13] = t[1];
    output[14] = t[2];
    output[15] = 1;

    return output;
}