Nothing
rotateBody <- function(m, p, v, a){
if(is.vector(m)) m <- matrix(m, nrow=1, ncol=length(m))
# IF INPUT MATRIX HAS NO ROWS, RETURN EMPTY MATRIX
if(dim(m)[1] == 0) return(m)
# GET TRANSLATION MATRIX
tm <- matrix(p, nrow=nrow(m), ncol=ncol(m), byrow=TRUE)
# MAKE ROTATION POINT ORIGIN
m <- m - tm
# FIND ROTATION MATRIX
RM <- tMatrixEP(v=v, a=a)
# ROTATE POINTS
m <- m %*% RM
# MOVE POINTS BACK TO ORIGINAL POSITION
m <- m + tm
m
}
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