Function rotationMatrix #

Create a 2-dimensional counter-clockwise rotation matrix (2x2) for a given angle (expressed in radians). Create a 2-dimensional counter-clockwise rotation matrix (3x3) by a given angle (expressed in radians) around a given axis (1x3).

Syntax #

math.rotationMatrix(theta)
math.rotationMatrix(theta, format)
math.rotationMatrix(theta, [v])
math.rotationMatrix(theta, [v], format)

Parameters #

Parameter Type Description
theta number | BigNumber | Complex | Unit Rotation angle
v Array | Matrix Rotation axis
format string Result Matrix storage format

Returns #

Type Description
Array | Matrix Rotation matrix

Examples #

math.rotationMatrix(math.pi / 2)                      // returns [[0, -1], [1, 0]]
math.rotationMatrix(math.bignumber(1))                // returns [[bignumber(cos(1)), bignumber(-sin(1))], [bignumber(sin(1)), bignumber(cos(1))]]
math.rotationMatrix(math.complex(1 + i))              // returns [[cos(1 + i), -sin(1 + i)], [sin(1 + i), cos(1 + i)]]
math.rotationMatrix(math.unit('1rad'))                // returns [[cos(1), -sin(1)], [sin(1), cos(1)]]

math.rotationMatrix(math.pi / 2, [0, 1, 0])           // returns [[0, 0, 1], [0, 1, 0], [-1, 0, 0]]
math.rotationMatrix(math.pi / 2, matrix([0, 1, 0]))   // returns matrix([[0, 0, 1], [0, 1, 0], [-1, 0, 0]])

See also #

matrix, cos, sin

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