Rename rotation constructors

src/Data/NumIdr/Transform/Rotation.idr

@@ -8,6 +8,7 @@ import Data.NumIdr.Matrix
 import Data.NumIdr.Homogeneous
 import Data.NumIdr.Transform.Point
 import Data.NumIdr.Transform.Transform
+import Data.NumIdr.Transform.Orthonormal
 
 %default total
 
@@ -17,6 +18,27 @@ Rotation : Nat -> Type -> Type
 Rotation = Transform TRotation
 
 
+-- HACK: Replace with more efficient method
 export
-isRotation' : Matrix' n a -> Bool
-isRotation' mat =
+isRotation' : FieldCmp a => Matrix' n a -> Bool
+isRotation' mat = isOrthonormal mat && det mat == 1
+
+fromMatrix : FieldCmp a => Matrix' n a -> Maybe (Rotation n a)
+fromMatrix mat = if isRotation' mat then Just (unsafeMkTrans $ matrixToH mat)
+                                    else Nothing
+
+export
+rotate2D : Num a => Double -> Rotation 2 Double
+rotate2D = unsafeMkTrans . rotate2DH
+
+export
+rotate3DX : Num a => Double -> Rotation 3 Double
+rotate3DX = unsafeMkTrans . rotate3DXH
+
+export
+rotate3DY : Num a => Double -> Rotation 3 Double
+rotate3DY = unsafeMkTrans . rotate3DYH
+
+export
+rotate3DZ : Num a => Double -> Rotation 3 Double
+rotate3DZ = unsafeMkTrans . rotate3DZH