public static XMVector RotationNormal(XMVector normalAxis, float angle)
{
XMVector n = XMVector.Select(XMGlobalConstants.One, normalAxis, XMGlobalConstants.Select1110);
float sinV;
float cosV;
XMScalar.SinCos(out sinV, out cosV, 0.5f * angle);
XMVector scale = new XMVector(sinV, sinV, sinV, cosV);
return(XMVector.Multiply(n, scale));
}
public static void ToAxisAngle(out XMVector axis, out float angle, XMVector q)
{
axis = q;
angle = 2.0f * XMScalar.ACos(q.W);
}
