public Matrix4X4 SetRotation(Vector3 rotation)
{
float x = rotation.Elements[0]; float y = rotation.Elements[1]; float z = rotation.Elements[2];
float sx = Math.Sin(x);
float cx = Math.Cos(x);
float sy = Math.Sin(y);
float cy = Math.Cos(y);
float sz = Math.Sin(z);
float cz = Math.Cos(z);
Elements[0] = cz * cy;
Elements[1] = sz * cy;
Elements[2] = -sy;
Elements[3] = 0;
Elements[4] = -sz * cx + cz * sy * sx;
Elements[5] = cz * cx + sz * sy * sx;
Elements[6] = cy * sx;
Elements[7] = 0;
Elements[8] = sz * sx + cz * sy * cx;
Elements[9] = cz * (-sx) + sz * sy * sx;
Elements[10] = cy * cx;
Elements[11] = 0;
Elements[12] = 0;
Elements[13] = 0;
Elements[14] = 0;
Elements[15] = 1;
return this;
}
