From 214f54fe89fa5de14da90efccdbf526dbcd864d2 Mon Sep 17 00:00:00 2001
From: David Allemang <allemang.d@gmail.com>
Date: Fri, 10 Jan 2020 16:09:01 -0500
Subject: [PATCH] add basic 4d rotation matrix utility

---
 vis/include/mirror.hpp |  9 +++++++++
 vis/src/main.cpp       | 11 +++++++----
 2 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/vis/include/mirror.hpp b/vis/include/mirror.hpp
index 291cebc..11f1e92 100644
--- a/vis/include/mirror.hpp
+++ b/vis/include/mirror.hpp
@@ -105,3 +105,12 @@ std::vector<glm::vec4> plane_intersections(std::vector<glm::vec4> normals) {
 
     return results;
 }
+
+glm::mat4 utilRotate(const int u, const int v, const float theta) {
+    auto res = glm::identity<glm::mat4>();
+    res[u][u] = std::cos(theta);
+    res[u][v] = std::sin(theta);
+    res[v][u] = -std::sin(theta);
+    res[v][v] = std::cos(theta);
+    return res;
+}
\ No newline at end of file
diff --git a/vis/src/main.cpp b/vis/src/main.cpp
index 920a033..aa2fbb7 100644
--- a/vis/src/main.cpp
+++ b/vis/src/main.cpp
@@ -92,11 +92,14 @@ int main(int argc, char *argv[]) {
         glm::mat4 proj = glm::ortho(-pwidth, pwidth, -pheight, pheight, -100.0f, 100.0f);
         glUniformMatrix4fv(0, 1, false, glm::value_ptr(proj));
 
-        auto t = (float) glfwGetTime() / 3;
+        auto t = (float) glfwGetTime() / 5;
         auto view = glm::identity<glm::mat4>();
-        view = glm::rotate(view, t / 1, glm::vec3(0, 1, 0));
-        view = glm::rotate(view, t / 3, glm::vec3(0, 0, 1));
-        view = glm::rotate(view, t / 4, glm::vec3(1, 0, 0));
+        view *= utilRotate(0, 1, t * 0.7f);
+        view *= utilRotate(0, 2, t * 0.8f);
+        view *= utilRotate(0, 3, t * 1.0f);
+        view *= utilRotate(1, 2, -t * 1.1f);
+        view *= utilRotate(1, 3, -t * 0.3f);
+        view *= utilRotate(2, 3, -t * 1.2f);
         glUniformMatrix4fv(1, 1, false, glm::value_ptr(view));
         //endregion