public void ToAngleAxis(out Radian rfAngle, out Vector3 rkAxis)
{
rkAxis = Vector3.ZERO;
float fValue = (float)((this.x * this.x) + (this.y * this.y) + (this.z * this.z));
if (fValue > 0.0)
{
Radian radian = (Radian)((float)(2.0 * System.Math.Acos(this.w)));
rfAngle = radian;
float num = Math.InvSqrt(fValue);
rkAxis.x = this.x * num;
rkAxis.y = this.y * num;
rkAxis.z = this.z * num;
}
else
{
Radian radian = new Radian(0.0f);
rfAngle = radian;
rkAxis.x = 1f;
rkAxis.y = 0.0f;
rkAxis.z = 0.0f;
}
}
