quaternion_transform.inl

namespace glm
{
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER qua<T, Q> rotate(qua<T, Q> const& q, T const& angle, vec<3, T, Q> const& v)
    {
        vec<3, T, Q> Tmp = v;
 
        // Axis of rotation must be normalised
        T len = glm::length(Tmp);
        if(abs(len - static_cast<T>(1)) > static_cast<T>(0.001))
        {
            T oneOverLen = static_cast<T>(1) / len;
            Tmp.x *= oneOverLen;
            Tmp.y *= oneOverLen;
            Tmp.z *= oneOverLen;
        }
 
        T const AngleRad(angle);
        T const Sin = sin(AngleRad * static_cast<T>(0.5));
 
        return q * qua<T, Q>(cos(AngleRad * static_cast<T>(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
    }
}//namespace glm