17 lines
362 B
C
17 lines
362 B
C
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#include <c3d/maths.h>
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C3D_FQuat Quat_Rotate(C3D_FQuat q, C3D_FVec axis, float r, bool bRightSide)
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{
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float halfAngle = r/2.0f;
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float s = sinf(halfAngle);
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axis = FVec3_Normalize(axis);
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C3D_FQuat tmp = Quat_New(axis.x*s, axis.y*s, axis.z*s, cosf(halfAngle));
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if (bRightSide)
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return Quat_Multiply(tmp, q);
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else
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return Quat_Multiply(q, tmp);
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}
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