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