| 1 | namespace glm |
| 2 | { |
| 3 | template<typename T, qualifier Q> |
| 4 | GLM_FUNC_QUALIFIER qua<T, Q> rotate(qua<T, Q> const& q, T const& angle, vec<3, T, Q> const& v) |
| 5 | { |
| 6 | vec<3, T, Q> Tmp = v; |
| 7 | |
| 8 | // Axis of rotation must be normalised |
| 9 | T len = glm::length(Tmp); |
| 10 | if(abs(len - static_cast<T>(1)) > static_cast<T>(0.001)) |
| 11 | { |
| 12 | T oneOverLen = static_cast<T>(1) / len; |
| 13 | Tmp.x *= oneOverLen; |
| 14 | Tmp.y *= oneOverLen; |
| 15 | Tmp.z *= oneOverLen; |
| 16 | } |
| 17 | |
| 18 | T const AngleRad(angle); |
| 19 | T const Sin = sin(AngleRad * static_cast<T>(0.5)); |
| 20 | |
| 21 | return q * qua<T, Q>::wxyz(cos(AngleRad * static_cast<T>(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin); |
| 22 | } |
| 23 | }//namespace glm |
| 24 | |