public AngleAxis(Quat _q)
{
Angle = (float)System.Math.Acos(_q.qs);
float fSine = (float)System.Math.Sin(Angle);
Angle *= 2.0f;
Quat Temp = new Quat(_q);
Temp.Normalize();
if (System.Math.Abs(fSine) > float.Epsilon)
{
Axis = Temp.qv / fSine;
}
else
{
Axis.MakeZero();
}
}
// Access methods
public void Zero()
{
qs = 0.0f; qv.MakeZero();
}
// Access methods
public Plane Zero()
{
n.MakeZero(); d = 0.0f; return(this);
}