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17 lines
348 B
C
17 lines
348 B
C
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#include <math.h>
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#include "vmath.h"
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quat_t quat_rotate(quat_t q, float angle, float x, float y, float z)
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{
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quat_t rq;
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float half_angle = angle * 0.5f;
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float sin_half = (float)sin(half_angle);
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rq.w = (float)cos(half_angle);
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rq.x = x * sin_half;
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rq.y = y * sin_half;
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rq.z = z * sin_half;
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return quat_mul(q, rq);
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}
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