/// <summary> /// Set the rotation from angle axis, angle is in radians /// </summary> /// <param name="axis"></param> /// <param name="angle"></param> /// <param name="x"></param> /// <param name="y"></param> /// <param name="z"></param> /// <param name="w"></param> private static void setRotation(ref Vector3 axis, ref float angle, out float x, out float y, out float z, out float w) { float d = axis.length(); float s = (float)System.Math.Sin(angle * 0.5f) / d; x = axis.x * s; y = axis.y * s; z = axis.z * s; w = (float)System.Math.Cos(angle * 0.5f); }