803c4f86a2
git-svn-id: https://svn.code.sf.net/p/freeglut/code/trunk@837 7f0cb862-5218-0410-a997-914c9d46530a
17 lines
325 B
C
17 lines
325 B
C
#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 * 0.5;
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float sin_half = sin(half_angle);
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rq.w = 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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