2 files changed, 13 insertions, 0 deletions
diff --git a/lib/maths.cpp b/lib/maths.cpp
index 4d9f8d4..b8dbd34 100644
--- a/lib/maths.cpp
+++ b/lib/maths.cpp
@@ -70,6 +70,12 @@ rotate_ypr(glm::vec3 a)
 	return rotate_yaw(a.y) * rotate_pitch(a.x) * rotate_roll(a.z);
 }
 
+glm::mat4
+rotate_yp(glm::vec2 a)
+{
+	return rotate_yaw(a.y) * rotate_pitch(a.x);
+}
+
 float
 vector_yaw(const glm::vec3 & diff)
 {
diff --git a/lib/maths.h b/lib/maths.h
index ad2f3e5..a75c7a8 100644
--- a/lib/maths.h
+++ b/lib/maths.h
@@ -51,6 +51,7 @@ glm::mat2 rotate_flat(float);
 glm::mat4 rotate_roll(float);
 glm::mat4 rotate_yaw(float);
 glm::mat4 rotate_pitch(float);
+glm::mat4 rotate_yp(glm::vec2);
 glm::mat4 rotate_ypr(glm::vec3);
 
 float vector_yaw(const glm::vec3 & diff);
@@ -84,6 +85,12 @@ operator^(const glm::vec2 & v, float z)
 	return {v.x, v.y, z};
 }
 
+constexpr inline glm::vec4
+operator^(const glm::vec3 & v, float w)
+{
+	return {v.x, v.y, v.z, w};
+}
+
 constexpr inline glm::vec3
 operator!(const glm::vec2 & v)
 {