tsl rotation

rotation.js

const rotate2D = Fn(({pos,angle})=>{
  const s = sin(angle);
  const c = cos(angle);
  const m = mat2(c, s, s.mul(-1), c);
  return m.mul(pos);
})

const rotate3D = Fn(({pos,axis,angle})=>{
  const axisNorm = normalize(axis);
  const s = sin(angle);
  const c = cos(angle);
  const oc = float(1).sub(c);

  const matrix4 = mat4(
      oc.mul(axisNorm.x).mul(axisNorm.x).add(c),           oc.mul(axisNorm.x).mul(axisNorm.y).sub(axisNorm.z.mul(s)),  oc.mul(axisNorm.z).mul(axisNorm.x).add(axisNorm.y.mul(s)),  0.0,
      oc.mul(axisNorm.x).mul(axisNorm.y).add(axisNorm.z.mul(s)),  oc.mul(axisNorm.y).mul(axisNorm.y).add(c),           oc.mul(axisNorm.y).mul(axisNorm.z).sub(axisNorm.x.mul(s)),  0.0,
      oc.mul(axisNorm.z).mul(axisNorm.x).sub(axisNorm.y.mul(s)),  oc.mul(axisNorm.y).mul(axisNorm.z).add(axisNorm.x.mul(s)),  oc.mul(axisNorm.z).mul(axisNorm.z).add(c),           0.0,
      0.0,                                0.0,                                0.0,                                1.0
  )
  return matrix4.mul(pos).xyz;
})