Rotate matrix is incorrect

[zloywolk]

Hi,

There is incorrect main diagonal in rotate matrix. You matrix

        float r = toRadians(angle);
        float c = cos(r);
        float s = sin(r);
        float omc = 1.0f - c;

        float x = axis.x;
        float y = axis.y;
        float z = axis.z;

        result.elements[0 + 0 * 4] = x * omc + c;
        result.elements[1 + 0 * 4] = y * x * omc + z * s;
        result.elements[2 + 0 * 4] = x * z * omc - y * s;

        result.elements[0 + 1 * 4] = x * y * omc - z * s;
        result.elements[1 + 1 * 4] = y * omc + c;
        result.elements[2 + 1 * 4] = y * z * omc + x * s;

        result.elements[0 + 2 * 4] = x * z * omc + y * s;
        result.elements[1 + 2 * 4] = y * z * omc - x * s;
        result.elements[2 + 2 * 4] = z * omc + c;

And could be implemented as marix (see below)

So in main diagonal you should multiply (1 - cos a) on sqaure of the coordinate of the vector.. See below pic.

Probably fix it (w/o optimization and etc.)

        result.elements[0 + 0 * 4] = x * x * omc + c; // fixed
        result.elements[1 + 0 * 4] = y * x * omc + z * s;
        result.elements[2 + 0 * 4] = x * z * omc - y * s;

        result.elements[0 + 1 * 4] = x * y * omc - z * s;
        result.elements[1 + 1 * 4] = y * y * omc + c; // fixed
        result.elements[2 + 1 * 4] = y * z * omc + x * s;

        result.elements[0 + 2 * 4] = x * z * omc + y * s;
        result.elements[1 + 2 * 4] = y * z * omc - x * s;
        result.elements[2 + 2 * 4] = z * z * omc + c; // fixed