add rotate_mat_normaxis

panda/src/chancfg/chancfg.cxx

@@ -263,13 +263,13 @@ void ChanEval(GraphicsWindow* win, WindowItem& W, LayoutItem& L, SVec& S,
 	case SetupItem::Up:
 	  break;
 	case SetupItem::Down:
-	  orient = new TransformTransition(LMatrix4f::rotate_mat(180., LVector3f::forward()));
+	  orient = new TransformTransition(LMatrix4f::rotate_mat_normaxis(180., LVector3f::forward()));
 	  break;
 	case SetupItem::Left:
-	  orient = new TransformTransition(LMatrix4f::rotate_mat(90., LVector3f::forward()));
+	  orient = new TransformTransition(LMatrix4f::rotate_mat_normaxis(90., LVector3f::forward()));
 	  break;
 	case SetupItem::Right:
-	  orient = new TransformTransition(LMatrix4f::rotate_mat(-90., LVector3f::forward()));
+	  orient = new TransformTransition(LMatrix4f::rotate_mat_normaxis(-90., LVector3f::forward()));
 	  break;
 	}
 

panda/src/egg/eggXfmSAnim.cxx

@@ -198,18 +198,18 @@ compose_with_order(LMatrix4d &mat,
       break;
       
     case 'h':
-      mat = mat * LMatrix4d::rotate_mat(hpr[0], LVector3d::up(cs), cs);
+      mat = mat * LMatrix4d::rotate_mat_normaxis(hpr[0], LVector3d::up(cs), cs);
       break;
       
     case 'p':
-      mat = mat * LMatrix4d::rotate_mat(hpr[1], LVector3d::right(cs), cs);
+      mat = mat * LMatrix4d::rotate_mat_normaxis(hpr[1], LVector3d::right(cs), cs);
       break;
       
     case 'r':
       if (reverse_roll) {
-	mat = mat * LMatrix4d::rotate_mat(-hpr[2], LVector3d::forward(cs), cs);
+	mat = mat * LMatrix4d::rotate_mat_normaxis(-hpr[2], LVector3d::forward(cs), cs);
       } else {
-	mat = mat * LMatrix4d::rotate_mat(hpr[2], LVector3d::forward(cs), cs);
+	mat = mat * LMatrix4d::rotate_mat_normaxis(hpr[2], LVector3d::forward(cs), cs);
       }
       break;
       

panda/src/egg/parser.yxx

@@ -1103,19 +1103,19 @@ translate_3d: TRANSLATE '{' real real real '}'
 
 rotx_3d: ROTX '{' real '}'
 {
-  matrix_3d *= LMatrix4d::rotate_mat($3, LVector3d(1.0, 0.0, 0.0));
+  matrix_3d *= LMatrix4d::rotate_mat_normaxis($3, LVector3d(1.0, 0.0, 0.0));
 }
 	;
 
 roty_3d: ROTY '{' real '}'
 {
-  matrix_3d *= LMatrix4d::rotate_mat($3, LVector3d(0.0, 1.0, 0.0));
+  matrix_3d *= LMatrix4d::rotate_mat_normaxis($3, LVector3d(0.0, 1.0, 0.0));
 }
 	;
 
 rotz_3d: ROTZ '{' real '}'
 {
-  matrix_3d *= LMatrix4d::rotate_mat($3, LVector3d(0.0, 0.0, 1.0));
+  matrix_3d *= LMatrix4d::rotate_mat_normaxis($3, LVector3d(0.0, 0.0, 1.0));
 }
 	;
 

panda/src/linmath/compose_matrix_src.cxx

@@ -16,15 +16,15 @@ compose_matrix(FLOATNAME(LMatrix3) &mat,
   if (temp_hpr_fix) {
     mat =
       FLOATNAME(LMatrix3)::scale_mat(scale) *
-      FLOATNAME(LMatrix3)::rotate_mat(hpr[2], FLOATNAME(LVector3)::forward(cs), cs) *
-      FLOATNAME(LMatrix3)::rotate_mat(hpr[1], FLOATNAME(LVector3)::right(cs), cs) *
-      FLOATNAME(LMatrix3)::rotate_mat(hpr[0], FLOATNAME(LVector3)::up(cs), cs);
+      FLOATNAME(LMatrix3)::rotate_mat_normaxis(hpr[2], FLOATNAME(LVector3)::forward(cs), cs) *
+      FLOATNAME(LMatrix3)::rotate_mat_normaxis(hpr[1], FLOATNAME(LVector3)::right(cs), cs) *
+      FLOATNAME(LMatrix3)::rotate_mat_normaxis(hpr[0], FLOATNAME(LVector3)::up(cs), cs);
   } else {
     mat =
       FLOATNAME(LMatrix3)::scale_mat(scale) *
-      FLOATNAME(LMatrix3)::rotate_mat(hpr[1], FLOATNAME(LVector3)::right(cs), cs) *
-      FLOATNAME(LMatrix3)::rotate_mat(hpr[0], FLOATNAME(LVector3)::up(cs), cs) *
-      FLOATNAME(LMatrix3)::rotate_mat(hpr[2], FLOATNAME(LVector3)::back(cs), cs);
+      FLOATNAME(LMatrix3)::rotate_mat_normaxis(hpr[1], FLOATNAME(LVector3)::right(cs), cs) *
+      FLOATNAME(LMatrix3)::rotate_mat_normaxis(hpr[0], FLOATNAME(LVector3)::up(cs), cs) *
+      FLOATNAME(LMatrix3)::rotate_mat_normaxis(hpr[2], FLOATNAME(LVector3)::back(cs), cs);
   }
 }
 
@@ -58,7 +58,7 @@ unwind_yup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr) {
     
     // Unwind the heading, and continue.
     Matrix rot_y;
-    rot_y = Matrix::rotate_mat(-heading, FLOATNAME(LVector3)(0.0, 1.0, 0.0),
+    rot_y = Matrix::rotate_mat_normaxis(-heading, FLOATNAME(LVector3)(0.0, 1.0, 0.0),
 			       CS_yup_right);
     
     x = x * rot_y;
@@ -74,7 +74,7 @@ unwind_yup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr) {
     
     // Unwind the pitch.
     Matrix rot_x;
-    rot_x = Matrix::rotate_mat(-pitch, FLOATNAME(LVector3)(1.0, 0.0, 0.0), 
+    rot_x = Matrix::rotate_mat_normaxis(-pitch, FLOATNAME(LVector3)(1.0, 0.0, 0.0), 
 			       CS_yup_right);
     
     x = x * rot_x;
@@ -90,7 +90,7 @@ unwind_yup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr) {
 
     // Unwind the roll from the axes, and continue.
     Matrix rot_z;
-    rot_z = Matrix::rotate_mat(-roll, FLOATNAME(LVector3)(0.0, 0.0, 1.0),
+    rot_z = Matrix::rotate_mat_normaxis(-roll, FLOATNAME(LVector3)(0.0, 0.0, 1.0),
 			       CS_yup_right);
     
     x = x * rot_z;
@@ -124,7 +124,7 @@ unwind_yup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr) {
     
     // Unwind the roll from the axes, and continue.
     Matrix rot_z;
-    rot_z = Matrix::rotate_mat(-roll, FLOATNAME(LVector3)(0.0, 0.0, 1.0),
+    rot_z = Matrix::rotate_mat_normaxis(-roll, FLOATNAME(LVector3)(0.0, 0.0, 1.0),
 			       CS_yup_right);
     
     x = x * rot_z;
@@ -141,7 +141,7 @@ unwind_yup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr) {
     
     // Unwind the heading, and continue.
     Matrix rot_y;
-    rot_y = Matrix::rotate_mat(-heading, FLOATNAME(LVector3)(0.0, 1.0, 0.0),
+    rot_y = Matrix::rotate_mat_normaxis(-heading, FLOATNAME(LVector3)(0.0, 1.0, 0.0),
 			       CS_yup_right);
     
     x = x * rot_y;
@@ -157,7 +157,7 @@ unwind_yup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr) {
     
     // Unwind the pitch.
     Matrix rot_x;
-    rot_x = Matrix::rotate_mat(-pitch, FLOATNAME(LVector3)(1.0, 0.0, 0.0), 
+    rot_x = Matrix::rotate_mat_normaxis(-pitch, FLOATNAME(LVector3)(1.0, 0.0, 0.0), 
 			       CS_yup_right);
     
     x = x * rot_x;
@@ -204,7 +204,7 @@ unwind_yup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr,
 
   // Unwind the roll from the axes, and continue.
   Matrix rot_z;
-  rot_z = Matrix::rotate_mat(-roll, FLOATNAME(LVector3)(0.0, 0.0, 1.0),
+  rot_z = Matrix::rotate_mat_normaxis(-roll, FLOATNAME(LVector3)(0.0, 0.0, 1.0),
 			     CS_yup_right);
 
   x = x * rot_z;
@@ -221,7 +221,7 @@ unwind_yup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr,
 
   // Unwind the heading, and continue.
   Matrix rot_y;
-  rot_y = Matrix::rotate_mat(-heading, FLOATNAME(LVector3)(0.0, 1.0, 0.0),
+  rot_y = Matrix::rotate_mat_normaxis(-heading, FLOATNAME(LVector3)(0.0, 1.0, 0.0),
 			     CS_yup_right);
 
   x = x * rot_y;
@@ -237,7 +237,7 @@ unwind_yup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr,
  
   // Unwind the pitch.
   Matrix rot_x;
-  rot_x = Matrix::rotate_mat(-pitch, FLOATNAME(LVector3)(1.0, 0.0, 0.0), 
+  rot_x = Matrix::rotate_mat_normaxis(-pitch, FLOATNAME(LVector3)(1.0, 0.0, 0.0), 
 			     CS_yup_right);
 
   x = x * rot_x;
@@ -285,7 +285,7 @@ unwind_zup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr) {
 
     // Unwind the heading, and continue.
     Matrix rot_z;
-    rot_z = Matrix::rotate_mat(-heading, FLOATNAME(LVector3)(0.0, 0.0, 1.0),
+    rot_z = Matrix::rotate_mat_normaxis(-heading, FLOATNAME(LVector3)(0.0, 0.0, 1.0),
 			       CS_zup_right);
 
     x = x * rot_z;
@@ -301,7 +301,7 @@ unwind_zup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr) {
 
     // Unwind the pitch.
     Matrix rot_x;
-    rot_x = Matrix::rotate_mat(-pitch, FLOATNAME(LVector3)(1.0, 0.0, 0.0), 
+    rot_x = Matrix::rotate_mat_normaxis(-pitch, FLOATNAME(LVector3)(1.0, 0.0, 0.0), 
 			       CS_zup_right);
 
     x = x * rot_x;
@@ -317,7 +317,7 @@ unwind_zup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr) {
   
     // Unwind the roll from the axes, and continue.
     Matrix rot_y;
-    rot_y = Matrix::rotate_mat(-roll, FLOATNAME(LVector3)(0.0, 1.0, 0.0),
+    rot_y = Matrix::rotate_mat_normaxis(-roll, FLOATNAME(LVector3)(0.0, 1.0, 0.0),
 			       CS_zup_right);
   
     x = x * rot_y;
@@ -361,7 +361,7 @@ unwind_zup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr) {
   
     // Unwind the roll from the axes, and continue.
     Matrix rot_y;
-    rot_y = Matrix::rotate_mat(roll, FLOATNAME(LVector3)(0.0, 1.0, 0.0),
+    rot_y = Matrix::rotate_mat_normaxis(roll, FLOATNAME(LVector3)(0.0, 1.0, 0.0),
 			       CS_zup_right);
   
     x = x * rot_y;
@@ -378,7 +378,7 @@ unwind_zup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr) {
 
     // Unwind the heading, and continue.
     Matrix rot_z;
-    rot_z = Matrix::rotate_mat(-heading, FLOATNAME(LVector3)(0.0, 0.0, 1.0),
+    rot_z = Matrix::rotate_mat_normaxis(-heading, FLOATNAME(LVector3)(0.0, 0.0, 1.0),
 			       CS_zup_right);
 
     x = x * rot_z;
@@ -394,7 +394,7 @@ unwind_zup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr) {
 
     // Unwind the pitch.
     Matrix rot_x;
-    rot_x = Matrix::rotate_mat(-pitch, FLOATNAME(LVector3)(1.0, 0.0, 0.0), 
+    rot_x = Matrix::rotate_mat_normaxis(-pitch, FLOATNAME(LVector3)(1.0, 0.0, 0.0), 
 			       CS_zup_right);
 
     x = x * rot_x;
@@ -441,7 +441,7 @@ unwind_zup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr,
   
   // Unwind the roll from the axes, and continue.
   Matrix rot_y;
-  rot_y = Matrix::rotate_mat(roll, FLOATNAME(LVector3)(0.0, 1.0, 0.0),
+  rot_y = Matrix::rotate_mat_normaxis(roll, FLOATNAME(LVector3)(0.0, 1.0, 0.0),
 			     CS_zup_right);
   
   x = x * rot_y;
@@ -458,7 +458,7 @@ unwind_zup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr,
 
   // Unwind the heading, and continue.
   Matrix rot_z;
-  rot_z = Matrix::rotate_mat(-heading, FLOATNAME(LVector3)(0.0, 0.0, 1.0),
+  rot_z = Matrix::rotate_mat_normaxis(-heading, FLOATNAME(LVector3)(0.0, 0.0, 1.0),
 			     CS_zup_right);
 
   x = x * rot_z;
@@ -474,7 +474,7 @@ unwind_zup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr,
 
   // Unwind the pitch.
   Matrix rot_x;
-  rot_x = Matrix::rotate_mat(-pitch, FLOATNAME(LVector3)(1.0, 0.0, 0.0), 
+  rot_x = Matrix::rotate_mat_normaxis(-pitch, FLOATNAME(LVector3)(1.0, 0.0, 0.0), 
 			     CS_zup_right);
 
   x = x * rot_x;

panda/src/linmath/lmatrix3_src.I

@@ -782,11 +782,13 @@ rotate_mat(FLOATTYPE angle, FLOATNAME(LVecBase3) axis,
 
   // Normalize the axis.  
   
+/*
   // hack check for prenormalization, only works for simple unit vecs, 
   // which is what we usually pass in anyway. screws up if you happen to
   // pass in something like (.5,.5,0).  need to add flag parameter so caller
   // can request normalization if needed
   if((cabs(axis_0)+cabs(axis_1)+cabs(axis_2)) != 1.0) {
+*/  
 	  FLOATTYPE length_sq = axis_0 * axis_0 + axis_1 * axis_1 + axis_2 * axis_2;
 	  #ifdef _DEBUG
 	      nassertr(length_sq != 0.0, ident_mat());
@@ -796,8 +798,76 @@ rotate_mat(FLOATTYPE angle, FLOATNAME(LVecBase3) axis,
 	  axis_0 *= recip_length;
 	  axis_1 *= recip_length;
 	  axis_2 *= recip_length;  
+//  }
+
+  FLOATTYPE angle_rad=deg_2_rad(angle);
+  FLOATTYPE s,c;
+  csincos(angle_rad,&s,&c);
+  FLOATTYPE t = 1.0 - c;
+
+  FLOATTYPE t0,t1,t2,s0,s1,s2;
+
+  t0 = t * axis_0;
+  t1 = t * axis_1;
+  t2 = t * axis_2;
+  s0 = s * axis_0;
+  s1 = s * axis_1;
+  s2 = s * axis_2;
+
+  mat._m.m._00 = t0 * axis_0 + c;
+  mat._m.m._01 = t0 * axis_1 + s2;
+  mat._m.m._02 = t0 * axis_2 - s1;
+
+  mat._m.m._10 = t1 * axis_0 - s2;
+  mat._m.m._11 = t1 * axis_1 + c;
+  mat._m.m._12 = t1 * axis_2 + s0;
+
+  mat._m.m._20 = t2 * axis_0 + s1;
+  mat._m.m._21 = t2 * axis_1 - s0;
+  mat._m.m._22 = t2 * axis_2 + c;
+
+/*
+  mat._m.m._00 = t * axis._v.v._0 * axis._v.v._0 + c;
+  mat._m.m._01 = t * axis._v.v._0 * axis._v.v._1 + s * axis._v.v._2;
+  mat._m.m._02 = t * axis._v.v._0 * axis._v.v._2 - s * axis._v.v._1;
+
+  mat._m.m._10 = t * axis._v.v._1 * axis._v.v._0 - s * axis._v.v._2;
+  mat._m.m._11 = t * axis._v.v._1 * axis._v.v._1 + c;
+  mat._m.m._12 = t * axis._v.v._1 * axis._v.v._2 + s * axis._v.v._0;
+
+  mat._m.m._20 = t * axis._v.v._2 * axis._v.v._0 + s * axis._v.v._1;
+  mat._m.m._21 = t * axis._v.v._2 * axis._v.v._1 - s * axis._v.v._0;
+  mat._m.m._22 = t * axis._v.v._2 * axis._v.v._2 + c;
+*/  
+
+  return mat;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: LMatrix::rotate_mat_normaxis
+//       Access: Public, Static
+//  Description: Returns a matrix that rotates by the given angle in
+//               degrees counterclockwise about the indicated vector.
+//               Assumes axis has been normalized.
+////////////////////////////////////////////////////////////////////
+INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
+rotate_mat_normaxis(FLOATTYPE angle, FLOATNAME(LVecBase3) axis,
+	   CoordinateSystem cs) {
+  if (cs == CS_default) {
+    cs = default_coordinate_system;
+  }
+  FLOATNAME(LMatrix3) mat;
+
+  if(IS_LEFT_HANDED_COORDSYSTEM(cs)) {
+    // In a left-handed coordinate system, counterclockwise is the
+    // other direction.
+    angle = -angle;
   }
 
+  FLOATTYPE axis_0 = axis._v.v._0;
+  FLOATTYPE axis_1 = axis._v.v._1;
+  FLOATTYPE axis_2 = axis._v.v._2;
+
   FLOATTYPE angle_rad=deg_2_rad(angle);
   FLOATTYPE s,c;
   csincos(angle_rad,&s,&c);

panda/src/linmath/lmatrix3_src.h

@@ -119,6 +119,10 @@ PUBLISHED:
   static INLINE_LINMATH FLOATNAME(LMatrix3) rotate_mat(FLOATTYPE angle,
 				      FLOATNAME(LVecBase3) axis,
 				      CoordinateSystem cs = CS_default);
+  static INLINE_LINMATH FLOATNAME(LMatrix3) rotate_mat_normaxis(FLOATTYPE angle,
+				      FLOATNAME(LVecBase3) axis,
+				      CoordinateSystem cs = CS_default);
+
   static INLINE_LINMATH FLOATNAME(LMatrix3) scale_mat(const FLOATNAME(LVecBase3) &scale);
   static INLINE_LINMATH FLOATNAME(LMatrix3) scale_mat(FLOATTYPE sx, FLOATTYPE sy, FLOATTYPE sz);
 

panda/src/linmath/lmatrix4_src.I

@@ -1137,13 +1137,16 @@ rotate_mat(FLOATTYPE angle, FLOATNAME(LVecBase3) axis,
   FLOATTYPE axis_2 = axis._v.v._2;
 
   // Normalize the axis.  
-  
- 
+
+/*  
   // hack check for prenormalization, only works for simple unit vecs, 
   // which is what we usually pass in anyway. screws up if you happen to
   // pass in something like (.5,.5,0).  need to add flag parameter so caller
   // can request normalization if needed
+  
   if((cabs(axis_0)+cabs(axis_1)+cabs(axis_2)) != 1.0) {
+*/  
+
 	  FLOATTYPE length_sq = axis_0 * axis_0 + axis_1 * axis_1 + axis_2 * axis_2;
 	  #ifdef _DEBUG
 	      nassertr(length_sq != 0.0, ident_mat());
@@ -1153,8 +1156,73 @@ rotate_mat(FLOATTYPE angle, FLOATNAME(LVecBase3) axis,
 	  axis_0 *= recip_length;
 	  axis_1 *= recip_length;
 	  axis_2 *= recip_length;  
+//  }
+
+  FLOATTYPE angle_rad=deg_2_rad(angle);
+  FLOATTYPE s,c;
+  csincos(angle_rad,&s,&c);
+  FLOATTYPE t = 1.0 - c;
+
+  FLOATTYPE t0,t1,t2,s0,s1,s2;
+
+  t0 = t * axis_0;
+  t1 = t * axis_1;
+  t2 = t * axis_2;
+  s0 = s * axis_0;
+  s1 = s * axis_1;
+  s2 = s * axis_2;
+
+  mat._m.m._00 = t0 * axis_0 + c;
+  mat._m.m._01 = t0 * axis_1 + s2;
+  mat._m.m._02 = t0 * axis_2 - s1;
+
+  mat._m.m._10 = t1 * axis_0 - s2;
+  mat._m.m._11 = t1 * axis_1 + c;
+  mat._m.m._12 = t1 * axis_2 + s0;
+
+  mat._m.m._20 = t2 * axis_0 + s1;
+  mat._m.m._21 = t2 * axis_1 - s0;
+  mat._m.m._22 = t2 * axis_2 + c;
+
+  mat._m.m._03 = 0.0;
+  mat._m.m._13 = 0.0;
+  mat._m.m._23 = 0.0;
+
+  mat._m.m._30 = 0.0;
+  mat._m.m._31 = 0.0;
+  mat._m.m._32 = 0.0;
+  mat._m.m._33 = 1.0;
+
+  return mat;
+}
+
+
+////////////////////////////////////////////////////////////////////
+//     Function: LMatrix::rotate_mat_normaxis
+//       Access: Public, Static
+//  Description: Returns a matrix that rotates by the given angle in
+//               degrees counterclockwise about the indicated vector.
+//               Assumes axis has been prenormalized.
+////////////////////////////////////////////////////////////////////
+INLINE_LINMATH FLOATNAME(LMatrix4) FLOATNAME(LMatrix4)::
+rotate_mat_normaxis(FLOATTYPE angle, FLOATNAME(LVecBase3) axis,
+	   CoordinateSystem cs) {
+
+  if (cs == CS_default) {
+    cs = default_coordinate_system;
+  }
+  FLOATNAME(LMatrix4) mat;
+
+  if(IS_LEFT_HANDED_COORDSYSTEM(cs)) {
+    // In a left-handed coordinate system, counterclockwise is the
+    // other direction.
+    angle = -angle;
   }
 
+  FLOATTYPE axis_0 = axis._v.v._0;
+  FLOATTYPE axis_1 = axis._v.v._1;
+  FLOATTYPE axis_2 = axis._v.v._2;
+
   FLOATTYPE angle_rad=deg_2_rad(angle);
   FLOATTYPE s,c;
   csincos(angle_rad,&s,&c);

panda/src/linmath/lmatrix4_src.h

@@ -108,6 +108,9 @@ PUBLISHED:
   INLINE_LINMATH static FLOATNAME(LMatrix4) rotate_mat(FLOATTYPE angle,
 				      FLOATNAME(LVecBase3) axis,
 				      CoordinateSystem cs = CS_default);
+  INLINE_LINMATH static FLOATNAME(LMatrix4) rotate_mat_normaxis(FLOATTYPE angle,
+				      FLOATNAME(LVecBase3) axis,
+				      CoordinateSystem cs = CS_default);
   INLINE_LINMATH static FLOATNAME(LMatrix4) scale_mat(const FLOATNAME(LVecBase3) &scale);
   INLINE_LINMATH static FLOATNAME(LMatrix4) scale_mat(FLOATTYPE sx, FLOATTYPE sy, FLOATTYPE sz);
   INLINE_LINMATH static FLOATNAME(LMatrix4) scale_mat(FLOATTYPE scale);

panda/src/tform/driveInterface.cxx

@@ -323,7 +323,7 @@ apply(double x, double y, bool any_button) {
   // rot_mat is the rotation matrix corresponding to our previous
   // heading.
   LMatrix3f rot_mat = 
-    LMatrix3f::rotate_mat(_hpr[0], LVector3f::up(_cs), _cs);
+    LMatrix3f::rotate_mat_normaxis(_hpr[0], LVector3f::up(_cs), _cs);
 
   // Take a step in the direction of our previous heading.
   LVector3f step = distance * (LVector3f::forward(_cs) * rot_mat);

panda/src/tform/trackball.cxx

@@ -398,7 +398,7 @@ apply(double x, double y, int button) {
     // screen.
     
     _rotation *= 
-      LMatrix4f::rotate_mat((x - y) * _rotscale, 
+      LMatrix4f::rotate_mat_normaxis((x - y) * _rotscale, 
 			    LVector3f::forward(_cs), _cs);
     
   } else if ((button == B2_MASK) || (button == (B1_MASK | B3_MASK))) {
@@ -407,8 +407,8 @@ apply(double x, double y, int button) {
     // support two-button mice.)
     
     _rotation *=
-      LMatrix4f::rotate_mat(x * _rotscale, LVector3f::up(_cs), _cs) *
-      LMatrix4f::rotate_mat(y * _rotscale, LVector3f::right(_cs), _cs);
+      LMatrix4f::rotate_mat_normaxis(x * _rotscale, LVector3f::up(_cs), _cs) *
+      LMatrix4f::rotate_mat_normaxis(y * _rotscale, LVector3f::right(_cs), _cs);
     
   } else if ((button == B3_MASK) || (button == (B1_MASK | B2_MASK))) {
     // Button 3, or buttons 1 + 2: dolly in and out along the forward