feat(math): Add vec3::rotate methods for quaternion and axis-angle rotation

Adds two convenient  methods to the  struct:
- : Rotates the vector by a given quaternion.
- : Rotates the vector around a given axis by an angle in radians.

These functions provide a more intuitive and streamlined syntax for vector rotation, improving code readability and usability.

1 files changed, 5 insertions, 0 deletions

diff --git a/src/util/mini_math.h b/src/util/mini_math.h
index f60e27e..29dc38f 100644
--- a/src/util/mini_math.h
+++ b/src/util/mini_math.h
@@ -117,6 +117,8 @@ struct vec3 {
 #if defined(USE_QUAT)
   // Rotate this vector by a quaternion
   vec3 rotate(const quat& q) const;
+  // Rotate this vector around an axis by an angle
+  vec3 rotate(const vec3& axis, float angle) const;
 #endif
 
   static vec3 cross(vec3 a, vec3 b) {
@@ -441,6 +443,9 @@ inline quat slerp(quat a, quat b, float t) {
 inline vec3 vec3::rotate(const quat& q) const {
   return q.rotate(*this);
 }
+inline vec3 vec3::rotate(const vec3& axis, float angle) const {
+  return quat::from_axis(axis, angle).rotate(*this);
+}
 #endif
 #endif /* defined(USE_QUAT) */