Add function for global Y-axis rotation.

1 files changed, 6 insertions, 0 deletions

diff --git a/include/math/spatial3.h b/include/math/spatial3.h
index 9065972..49e5615 100644
--- a/include/math/spatial3.h
+++ b/include/math/spatial3.h
@@ -107,6 +107,11 @@ static inline void spatial3_roll(Spatial3* spatial, const R angle) {
   spatial->r = vec3_normalize(vec3_cross(spatial->f, spatial->u));
 }
 
+/// Rotate the spatial about the global Y axis.
+static inline void spatial3_global_yaw(Spatial3* spatial, const R angle) {
+  spatial3_rotate(spatial, up3(), angle);
+}
+
 /// Set the spatial's transformation matrix.
 static inline void spatial3_set_transform(Spatial3* spatial, mat4 transform) {
   spatial->r = mat4_v0(transform);
@@ -115,6 +120,7 @@ static inline void spatial3_set_transform(Spatial3* spatial, mat4 transform) {
   spatial->p = mat4_v3(transform);
 }
 
+/// Set the spatial's forward vector.
 static inline void spatial3_set_forward(Spatial3* spatial, vec3 forward) {
   spatial->f = vec3_normalize(forward);
   // Use aux vector to define right vector orthogonal to forward.