13 lines
322 B
C
13 lines
322 B
C
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#include <c3d/maths.h>
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C3D_FQuat Quat_RotateZ(C3D_FQuat q, float r, bool bRightSide)
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{
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float c = cosf(r/2.0f);
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float s = sinf(r/2.0f);
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if (bRightSide)
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return Quat_New(q.i*c - q.j*s, q.j*c + q.i*s, q.r*s + q.k*c, q.r*c - q.k*s);
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else
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return Quat_New(q.i*c + q.j*s, q.j*c - q.i*s, q.r*s + q.k*c, q.r*c - q.k*s);
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}
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