1/// @ref gtx_rotate_normalized_axis
2/// @file glm/gtx/rotate_normalized_axis.inl
3
4namespace glm
5{
6	template <typename T, precision P>
7	GLM_FUNC_QUALIFIER tmat4x4<T, P> rotateNormalizedAxis
8	(
9		tmat4x4<T, P> const & m,
10		T const & angle,
11		tvec3<T, P> const & v
12	)
13	{
14		T const a = angle;
15		T const c = cos(a);
16		T const s = sin(a);
17
18		tvec3<T, P> const axis(v);
19
20		tvec3<T, P> const temp((static_cast<T>(1) - c) * axis);
21
22		tmat4x4<T, P> Rotate(uninitialize);
23		Rotate[0][0] = c + temp[0] * axis[0];
24		Rotate[0][1] = 0 + temp[0] * axis[1] + s * axis[2];
25		Rotate[0][2] = 0 + temp[0] * axis[2] - s * axis[1];
26
27		Rotate[1][0] = 0 + temp[1] * axis[0] - s * axis[2];
28		Rotate[1][1] = c + temp[1] * axis[1];
29		Rotate[1][2] = 0 + temp[1] * axis[2] + s * axis[0];
30
31		Rotate[2][0] = 0 + temp[2] * axis[0] + s * axis[1];
32		Rotate[2][1] = 0 + temp[2] * axis[1] - s * axis[0];
33		Rotate[2][2] = c + temp[2] * axis[2];
34
35		tmat4x4<T, P> Result(uninitialize);
36		Result[0] = m[0] * Rotate[0][0] + m[1] * Rotate[0][1] + m[2] * Rotate[0][2];
37		Result[1] = m[0] * Rotate[1][0] + m[1] * Rotate[1][1] + m[2] * Rotate[1][2];
38		Result[2] = m[0] * Rotate[2][0] + m[1] * Rotate[2][1] + m[2] * Rotate[2][2];
39		Result[3] = m[3];
40		return Result;
41	}
42
43	template <typename T, precision P>
44	GLM_FUNC_QUALIFIER tquat<T, P> rotateNormalizedAxis
45	(
46		tquat<T, P> const & q,
47		T const & angle,
48		tvec3<T, P> const & v
49	)
50	{
51		tvec3<T, P> const Tmp(v);
52
53		T const AngleRad(angle);
54		T const Sin = sin(AngleRad * T(0.5));
55
56		return q * tquat<T, P>(cos(AngleRad * static_cast<T>(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
57		//return gtc::quaternion::cross(q, tquat<T, P>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin));
58	}
59}//namespace glm
60