25 lines
635 B
C++
25 lines
635 B
C++
namespace glm
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{
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template<typename T, qualifier Q>
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GLM_FUNC_QUALIFIER qua<T, Q> rotate(qua<T, Q> const& q, T const& angle, vec<3, T, Q> const& v)
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{
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vec<3, T, Q> Tmp = v;
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// Axis of rotation must be normalised
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T len = glm::length(Tmp);
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if(abs(len - static_cast<T>(1)) > static_cast<T>(0.001))
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{
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T oneOverLen = static_cast<T>(1) / len;
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Tmp.x *= oneOverLen;
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Tmp.y *= oneOverLen;
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Tmp.z *= oneOverLen;
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}
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T const AngleRad(angle);
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T const Sin = sin(AngleRad * static_cast<T>(0.5));
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return qua<T, Q>::wxyz(cos(AngleRad * static_cast<T>(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin) * q;
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}
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}//namespace glm
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