Updated GLM version w/ now standard radians as angles.

includes/glm/gtx/rotate_normalized_axis.inl

@@ -0,0 +1,88 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2012 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+/// 
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+/// 
+/// Restrictions:
+///		By making use of the Software for military purposes, you choose to make
+///		a Bunny unhappy.
+/// 
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref gtx_rotate_normalized_axis
+/// @file glm/gtx/rotate_normalized_axis.inl
+/// @date 2012-12-13 / 2012-12-13
+/// @author Christophe Riccio
+///////////////////////////////////////////////////////////////////////////////////
+
+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