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