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/* SPDX-License-Identifier: GPL-2.0-or-later */
/** \file
* \ingroup bli
*/
#include "BLI_math_base.h"
#include "BLI_math_rotation.hh"
#include "BLI_math_vector.h"
#include "BLI_math_vector.hh"
namespace blender::math {
float3 rotate_direction_around_axis(const float3 &direction, const float3 &axis, const float angle)
{
BLI_ASSERT_UNIT_V3(direction);
BLI_ASSERT_UNIT_V3(axis);
const float3 axis_scaled = axis * math::dot(direction, axis);
const float3 diff = direction - axis_scaled;
const float3 cross = math::cross(axis, diff);
return axis_scaled + diff * std::cos(angle) + cross * std::sin(angle);
}
} // namespace blender::math
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