///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
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/// @ref gtx_rotate_normalized_axis
/// @file glm/gtx/rotate_normalized_axis.hpp
/// @date 2012-12-13 / 2012-12-13
/// @author Christophe Riccio
///
/// @see core (dependence)
/// @see gtc_matrix_transform
/// @see gtc_quaternion
///
/// @defgroup gtx_rotate_normalized_axis GLM_GTX_rotate_normalized_axis
/// @ingroup gtx
///
/// @brief Quaternions and matrices rotations around normalized axis.
///
/// <glm/gtx/rotate_normalized_axis.hpp> need to be included to use these functionalities.
///////////////////////////////////////////////////////////////////////////////////

#pragma once

// Dependency:
#include "../glm.hpp"
#include "../gtc/epsilon.hpp"
#include "../gtc/quaternion.hpp"

#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
#       pragma message("GLM: GLM_GTX_rotate_normalized_axis extension included")
#endif

namespace glm
{
        /// @addtogroup gtx_rotate_normalized_axis
        /// @{

        /// Builds a rotation 4 * 4 matrix created from a normalized axis and an angle.
        ///
        /// @param m Input matrix multiplied by this rotation matrix.
        /// @param angle Rotation angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
        /// @param axis Rotation axis, must be normalized.
        /// @tparam T Value type used to build the matrix. Currently supported: half (not recommanded), float or double.
        ///
        /// @see gtx_rotate_normalized_axis
        /// @see - rotate(T angle, T x, T y, T z)
        /// @see - rotate(tmat4x4<T, P> const & m, T angle, T x, T y, T z)
        /// @see - rotate(T angle, tvec3<T, P> const & v)
        template <typename T, precision P>
        GLM_FUNC_DECL tmat4x4<T, P> rotateNormalizedAxis(
                tmat4x4<T, P> const & m,
                T const & angle,
                tvec3<T, P> const & axis);

        /// Rotates a quaternion from a vector of 3 components normalized axis and an angle.
        ///
        /// @param q Source orientation
        /// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
        /// @param axis Normalized axis of the rotation, must be normalized.
        ///
        /// @see gtx_rotate_normalized_axis
        template <typename T, precision P>
        GLM_FUNC_DECL tquat<T, P> rotateNormalizedAxis(
                tquat<T, P> const & q,
                T const & angle,
                tvec3<T, P> const & axis);

        /// @}
}//namespace glm

#include "rotate_normalized_axis.inl"