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/// @ref gtx_rotate_normalized_axis
namespace glm
{
template<typename T, qualifier Q>
GLM_FUNC_QUALIFIER mat<4, 4, T, Q> rotateNormalizedAxis
(
mat<4, 4, T, Q> const& m,
T const& angle,
vec<3, T, Q> const& v
)
{
T const a = angle;
T const c = cos(a);
T const s = sin(a);
vec<3, T, Q> const axis(v);
vec<3, T, Q> const temp((static_cast<T>(1) - c) * axis);
mat<4, 4, T, Q> Rotate;
Rotate[0][0] = c + temp[0] * axis[0];
Rotate[0][1] = 0 + temp[0] * axis[1] + s * axis[2];
Rotate[0][2] = 0 + temp[0] * axis[2] - s * axis[1];
Rotate[1][0] = 0 + temp[1] * axis[0] - s * axis[2];
Rotate[1][1] = c + temp[1] * axis[1];
Rotate[1][2] = 0 + temp[1] * axis[2] + s * axis[0];
Rotate[2][0] = 0 + temp[2] * axis[0] + s * axis[1];
Rotate[2][1] = 0 + temp[2] * axis[1] - s * axis[0];
Rotate[2][2] = c + temp[2] * axis[2];
mat<4, 4, T, Q> Result;
Result[0] = m[0] * Rotate[0][0] + m[1] * Rotate[0][1] + m[2] * Rotate[0][2];
Result[1] = m[0] * Rotate[1][0] + m[1] * Rotate[1][1] + m[2] * Rotate[1][2];
Result[2] = m[0] * Rotate[2][0] + m[1] * Rotate[2][1] + m[2] * Rotate[2][2];
Result[3] = m[3];
return Result;
}
template<typename T, qualifier Q>
GLM_FUNC_QUALIFIER qua<T, Q> rotateNormalizedAxis
(
qua<T, Q> const& q,
T const& angle,
vec<3, T, Q> const& v
)
{
vec<3, T, Q> const Tmp(v);
T const AngleRad(angle);
T const Sin = sin(AngleRad * T(0.5));
return q * qua<T, Q>(cos(AngleRad * static_cast<T>(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
//return gtc::quaternion::cross(q, tquat<T, Q>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin));
}
}//namespace glm
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