///////////////////////////////////////////////////////////////////////////////////
/// 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> 
	GLM_FUNC_QUALIFIER detail::tmat4x4<T> rotateNormalizedAxis
	(
		detail::tmat4x4<T> const & m,
		T const & angle, 
		detail::tvec3<T> const & v
	)
	{
#ifdef GLM_FORCE_RADIANS
		T a = angle;
#else
		T a = radians(angle);
#endif
		T c = cos(a);
		T s = sin(a);

		detail::tvec3<T> axis = v;

		detail::tvec3<T> temp = (T(1) - c) * axis;

		detail::tmat4x4<T> Rotate(detail::tmat4x4<T>::null);
		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];

		detail::tmat4x4<T> Result(detail::tmat4x4<T>::null);
		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> 
	GLM_FUNC_QUALIFIER detail::tquat<T> rotateNormalizedAxis
	(
		detail::tquat<T> const & q, 
		typename detail::tquat<T>::value_type const & angle, 
		detail::tvec3<T> const & v
	)
	{
		detail::tvec3<T> Tmp = v;

#ifdef GLM_FORCE_RADIANS
		typename detail::tquat<T>::value_type const AngleRad(angle);
#else
		typename detail::tquat<T>::value_type const AngleRad = radians(angle);
#endif
		typename detail::tquat<T>::value_type const Sin = sin(AngleRad * T(0.5));

		return q * detail::tquat<T>(cos(AngleRad * T(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
		//return gtc::quaternion::cross(q, detail::tquat<T>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin));
	}
}//namespace glm
