public static GLKMatrix3 MakeRotation (float radians, float x, float y, float z)
{
GLKVector3 v = GLKVector3.Normalize (GLKVector3.Make (x, y, z));
float cos = (float)Math.Cos (radians);
float cosp = 1.0f - cos;
float sin = (float)Math.Sin (radians);
GLKMatrix3 m = new GLKMatrix3 (cos + cosp * v.x * v.x,
cosp * v.x * v.y + v.z * sin,
cosp * v.x * v.z - v.y * sin,
cosp * v.x * v.y - v.z * sin,
cos + cosp * v.y * v.y,
cosp * v.y * v.z + v.x * sin,
cosp * v.x * v.z + v.y * sin,
cosp * v.y * v.z - v.x * sin,
cos + cosp * v.z * v.z);
return m;
}
