From ede90adbdc8ae3ff682e2aab9331937d0e8cb4dd Mon Sep 17 00:00:00 2001
From: Syntriax <syntriax@gmail.com>
Date: Sun, 19 Oct 2025 00:14:39 +0300
Subject: [PATCH] feat: quaternion rotate method added

---
 Engine.Core/Primitives/Quaternion.cs | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/Engine.Core/Primitives/Quaternion.cs b/Engine.Core/Primitives/Quaternion.cs
index bdf48cb..2f3c918 100644
--- a/Engine.Core/Primitives/Quaternion.cs
+++ b/Engine.Core/Primitives/Quaternion.cs
@@ -156,6 +156,15 @@ public readonly struct Quaternion(float x, float y, float z, float w) : IEquatab
     /// <returns>The normalized <see cref="Quaternion"/>.</returns>
     public static Quaternion Normalize(Quaternion quaternion) => quaternion / Length(quaternion);
 
+    /// <summary>
+    /// Rotates a <see cref="Quaternion"/> around a axis by the specified angle (in radians).
+    /// </summary>
+    /// <param name="vector">The <see cref="Quaternion"/> to rotate.</param>
+    /// <param name="axis">The <see cref="Quaternion"/> to rotate around.</param>
+    /// <param name="angleInRadian">The angle to rotate by, in radians.</param>
+    /// <returns>The rotated <see cref="Quaternion"/>.</returns>
+    public static Quaternion Rotate(Quaternion vector, Vector3D axis, float angleInRadian) => vector * Quaternion.FromAxisAngle(axis, angleInRadian);
+
     /// <summary>
     /// Inverts the direction of the <see cref="Quaternion"/>.
     /// </summary>
@@ -358,6 +367,9 @@ public static class QuaternionExtensions
     /// <inheritdoc cref="Quaternion.Normalize(Quaternion)" />
     public static Quaternion Normalize(this Quaternion quaternion) => Quaternion.Normalize(quaternion);
 
+    /// <inheritdoc cref="Quaternion.Rotate(Quaternion, Vector3D, float)" />
+    public static Quaternion Rotate(this Quaternion vector, Vector3D normal, float angleInRadian) => Quaternion.Rotate(vector, normal, angleInRadian);
+
     /// <inheritdoc cref="Quaternion.Invert(Quaternion)" />
     public static Quaternion Invert(this Quaternion quaternion) => Quaternion.Invert(quaternion);