/// @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