///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
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/// @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