From 3354d98012cdc33a665e3ba7c9cd66e3b0741302 Mon Sep 17 00:00:00 2001
From: Mikko Rasa <tdb@tdb.fi>
Date: Sat, 28 Jan 2023 21:45:19 +0200
Subject: [PATCH] Normalize the axis in Quaternion::rotation

---
 source/geometry/quaternion.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/source/geometry/quaternion.h b/source/geometry/quaternion.h
index 5cb45ff..ef5504e 100644
--- a/source/geometry/quaternion.h
+++ b/source/geometry/quaternion.h
@@ -46,8 +46,8 @@ struct Quaternion
 template<typename T>
 Quaternion<T> Quaternion<T>::rotation(Angle<T> angle, const LinAl::Vector<T, 3> &axis)
 {
-	float c = cos(angle/T(2));
-	float s = sin(angle/T(2));
+	T c = cos(angle/T(2));
+	T s = sin(angle/T(2))/axis.norm();
 	return Quaternion<T>(c, s*axis.x, s*axis.y, s*axis.z);
 }
 
-- 
2.45.2