public static F64Quat FromAxisAngle(F64Vec3 axis, F64 angle)
{
F64 half_angle = F64.Div2(angle);
return(new F64Quat(axis * F64.SinFastest(half_angle), F64.CosFastest(half_angle)));
}
public static F64 LengthFastest(F64Quat a)
{
return(F64.SqrtFastest(LengthSqr(a)));
}
public static F64 LengthSqr(F64Quat a)
{
return(F64.FromRaw(Fixed64.Mul(a.RawX, a.RawX) + Fixed64.Mul(a.RawY, a.RawY) + Fixed64.Mul(a.RawZ, a.RawZ) + Fixed64.Mul(a.RawW, a.RawW)));
}
public static F64 Length(F64Quat a)
{
return(F64.Sqrt(LengthSqr(a)));
}
