public static MyQuat FromAxisAngle(axisAngle axis)
{
MyQuat q = new MyQuat();
q.w = Mathf.Cos(axis.w / 2);
q.x = axis.x * Mathf.Sin(axis.w / 2);
q.y = axis.y * Mathf.Sin(axis.w / 2);
q.z = axis.z * Mathf.Sin(axis.w / 2);
q.Normalize();
return(q);
}
public axisAngle ToAxisAngle()
{
axisAngle axis = new axisAngle();
Normalize();
axis.w = 2 * Mathf.Acos(w);
float s = Mathf.Sqrt(1 - (w * w));
if (s < 0.01)
{
axis.x = x;
axis.y = y;
axis.z = z;
}
else
{
axis.x = x / s;
axis.y = y / s;
axis.z = z / s;
}
return(axis);
}
public axisAngle toAxisAngle()
{
axisAngle axis = new axisAngle();
this.normalize();
axis.w = 2 * Mathf.Acos(this.w);
float s = Mathf.Sqrt(1 - (this.w * this.w));
if (s < 0.01)
{
axis.x = this.x;
axis.y = this.y;
axis.z = this.z;
}
else
{
axis.x = this.x / s;
axis.y = this.y / s;
axis.z = this.z / s;
}
return(axis);
}
