rotate

Rotates a vector or a matrix.

• rotate(v: Vector2, theta) turns the vector counter-clockwise by theta radians; a pointer rotates in place.
• rotate(v: Vector3, q) applies a unit quaternion q; a pointer rotates in place.
• rotate(m: Matrix3 or Matrix4, q) returns m * rotation_matrix(q), so the rotation is applied before m's own transform.

v := rotate(xy(1, 0), PI / 2);
assert(abs(v.x) < 0.0001 && abs(v.y - 1) < 0.0001);

q: Quaternion;
set_from_axis_and_angle(*q, xyz(0, 0, 1), PI);
w := rotate(xyz(1, 0, 0), q);
assert(abs(w.x + 1) < 0.0001 && abs(w.y) < 0.0001);

rotate :: (v: Vector2, theta: float) -> Vector2

rotate :: (v: *Vector2, theta: float)