1 files changed, 12 insertions, 0 deletions
diff --git a/src/maths/maths.h b/src/maths/maths.h
index b6e380c..57d575d 100644
--- a/src/maths/maths.h
+++ b/src/maths/maths.h
@@ -66,6 +66,18 @@ static inline quat quat_normalise(quat a) {
 
 static inline quat quat_ident() { return (quat){ .x = 0.0, .y = 0.0, .z = 0.0, .w = 1.0 }; }
 
+static quat quat_from_axis_angle(vec3 axis, f32 angle, bool normalize) {
+  const f32 half_angle = 0.5f * angle;
+  f32 s = sinf(half_angle);
+  f32 c = cosf(half_angle);
+
+  quat q = (quat){ s * axis.x, s * axis.y, s * axis.z, c };
+  if (normalize) {
+    return quat_normalise(q);
+  }
+  return q;
+}
+
 // --- Matrix Implementations
 
 static inline mat4 mat4_ident() {