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lib/glm/gtx/rotate_normalized_axis.inl

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+/// @ref gtx_rotate_normalized_axis
+/// @file glm/gtx/rotate_normalized_axis.inl
+
+namespace glm
+{
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tmat4x4<T, P> rotateNormalizedAxis
+	(
+		tmat4x4<T, P> const & m,
+		T const & angle,
+		tvec3<T, P> const & v
+	)
+	{
+		T const a = angle;
+		T const c = cos(a);
+		T const s = sin(a);
+
+		tvec3<T, P> const axis(v);
+
+		tvec3<T, P> const temp((static_cast<T>(1) - c) * axis);
+
+		tmat4x4<T, P> Rotate(uninitialize);
+		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];
+
+		tmat4x4<T, P> Result(uninitialize);
+		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, precision P>
+	GLM_FUNC_QUALIFIER tquat<T, P> rotateNormalizedAxis
+	(
+		tquat<T, P> const & q, 
+		T const & angle,
+		tvec3<T, P> const & v
+	)
+	{
+		tvec3<T, P> const Tmp(v);
+
+		T const AngleRad(angle);
+		T const Sin = sin(AngleRad * T(0.5));
+
+		return q * tquat<T, P>(cos(AngleRad * static_cast<T>(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
+		//return gtc::quaternion::cross(q, tquat<T, P>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin));
+	}
+}//namespace glm