fun rotateZ(ang: Double): Matrix4x3d? { return rotateZ(ang, this) }
Apply rotation about the Z axis to this matrix by rotating the given amount of radians . < p > When used with a right-handed coordinate system , the produced rotation will rotate a vector counter-clockwise around the rotation axis , when viewing along the negative axis direction towards the origin . When used with a left-handed coordinate system , the rotation is clockwise . < p > If < code > M < /code > is < code > this < /code > matrix and < code > R < /code > the rotation matrix , then the new matrix will be < code > M * R < /code > . So when transforming a vector < code > v < /code > with the new matrix by using < code > M * R * v < /code > , the rotation will be applied first ! < p > Reference : < a href= '' http : //en.wikipedia.org/wiki/Rotation_matrix # Basic_rotations '' > http : //en.wikipedia.org < /a >