/// <summary>
/// Set the Quaternion based on an Axis-Angle pair
/// </summary>
/// <param name="axis">The (unit-)Axis</param>
/// <param name="a">The rotation Angle</param>
public void SetFromAxisAngle(Vector3f axis, double a)
{
axis.MakeUnitVector();
double sina = (double)Math.Sin(a / 2.0);
X = axis.X * sina;
Y = axis.Y * sina;
Z = axis.Z * sina;
W = (double)Math.Cos(a / 2.0);
MakeRobust();
this.MakeUnitQuaternion();
}
public static Quaternion FromAxisAngle(Vector3f v, double angle)
{
v.MakeUnitVector();
return(new Quaternion(QuaternionParameterType.UnitAxisAngle, v.X, v.Y, v.Z, angle));
}