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/// @ref gtx_rotate_normalized_axis
/// @file glm/gtx/rotate_normalized_axis.hpp
///
/// @see core (dependence)
/// @see gtc_matrix_transform
/// @see gtc_quaternion
///
/// @defgroup gtx_rotate_normalized_axis GLM_GTX_rotate_normalized_axis
/// @ingroup gtx
///
/// Include <glm/gtx/rotate_normalized_axis.hpp> to use the features of this extension.
///
/// Quaternions and matrices rotations around normalized axis.
#pragma once
// Dependency:
#include "../glm.hpp"
#include "../gtc/epsilon.hpp"
#include "../gtc/quaternion.hpp"
#if GLM_MESSAGES == GLM_ENABLE && !defined(GLM_EXT_INCLUDED)
# ifndef GLM_ENABLE_EXPERIMENTAL
# pragma message("GLM: GLM_GTX_rotate_normalized_axis is an experimental extension and may change in the future. Use #define GLM_ENABLE_EXPERIMENTAL before including it, if you really want to use it.")
# else
# pragma message("GLM: GLM_GTX_rotate_normalized_axis extension included")
# endif
#endif
namespace glm
{
/// @addtogroup gtx_rotate_normalized_axis
/// @{
/// Builds a rotation 4 * 4 matrix created from a normalized axis and an angle.
///
/// @param m Input matrix multiplied by this rotation matrix.
/// @param angle Rotation angle expressed in radians.
/// @param axis Rotation axis, must be normalized.
/// @tparam T Value type used to build the matrix. Currently supported: half (not recommended), float or double.
///
/// @see gtx_rotate_normalized_axis
/// @see - rotate(T angle, T x, T y, T z)
/// @see - rotate(mat<4, 4, T, Q> const& m, T angle, T x, T y, T z)
/// @see - rotate(T angle, vec<3, T, Q> const& v)
template<typename T, qualifier Q>
GLM_FUNC_DECL mat<4, 4, T, Q> rotateNormalizedAxis(
mat<4, 4, T, Q> const& m,
T const& angle,
vec<3, T, Q> const& axis);
/// Rotates a quaternion from a vector of 3 components normalized axis and an angle.
///
/// @param q Source orientation
/// @param angle Angle expressed in radians.
/// @param axis Normalized axis of the rotation, must be normalized.
///
/// @see gtx_rotate_normalized_axis
template<typename T, qualifier Q>
GLM_FUNC_DECL qua<T, Q> rotateNormalizedAxis(
qua<T, Q> const& q,
T const& angle,
vec<3, T, Q> const& axis);
/// @}
}//namespace glm
#include "rotate_normalized_axis.inl"
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