1namespace 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>(cos(AngleRad * static_cast<T>(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
22	}
23}//namespace glm
24
25