From 0c0048c746e7ad5a81666c95da724acc82263a33 Mon Sep 17 00:00:00 2001
From: PolyFloyd <floyd@polyfloyd.net>
Date: Wed, 10 Dec 2014 22:52:12 +0100
Subject: Added quat_rotate

---
 linmath.h | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/linmath.h b/linmath.h
index d5c4084..78937fa 100644
--- a/linmath.h
+++ b/linmath.h
@@ -491,6 +491,14 @@ static inline void quat_conj(quat r, quat q)
 		r[i] = -q[i];
 	r[3] = q[3];
 }
+static inline void quat_rotate(quat r, float angle, vec3 axis) {
+	vec3 v;
+	vec3_scale(v, axis, sinf(angle / 2));
+	int i;
+	for(i=0; i<3; ++i)
+		r[i] = v[i];
+	r[3] = cosf(angle / 2);
+}
 #define quat_norm vec4_norm
 static inline void quat_mul_vec3(vec3 r, quat q, vec3 v)
 {
-- 
cgit v1.2.3