/// <summary>
/// Sets the value of this axis-angle to the rotational component of
/// the passed matrix.
/// </summary>
/// <remarks>
/// Sets the value of this axis-angle to the rotational component of
/// the passed matrix.
/// If the specified matrix has no rotational component, the value
/// of this AxisAngle4d is set to an angle of 0 about an axis of (0,1,0).
/// </remarks>
/// <param name="m1">the matrix4f</param>
public void Set(Matrix4f m1)
{
Matrix3d m3d = new Matrix3d();
m1.Get(m3d);
x = (float)(m3d.m21 - m3d.m12);
y = (float)(m3d.m02 - m3d.m20);
z = (float)(m3d.m10 - m3d.m01);
double mag = x * x + y * y + z * z;
if (mag > Eps)
{
mag = Math.Sqrt(mag);
double sin = 0.5 * mag;
double cos = 0.5 * (m3d.m00 + m3d.m11 + m3d.m22 - 1.0);
angle = (float)Math.Atan2(sin, cos);
double invMag = 1.0 / mag;
x = x * invMag;
y = y * invMag;
z = z * invMag;
}
else
{
x = 0.0f;
y = 1.0f;
z = 0.0f;
angle = 0.0f;
}
}
/// <summary>
/// Sets the value of this axis-angle to the rotational component of
/// the passed matrix.
/// </summary>
/// <remarks>
/// Sets the value of this axis-angle to the rotational component of
/// the passed matrix.
/// If the specified matrix has no rotational component, the value
/// of this AxisAngle4f is set to an angle of 0 about an axis of (0,1,0).
/// </remarks>
/// <param name="m1">the matrix4f</param>
public void Set(Matrix4f m1)
{
Matrix3f m3f = new Matrix3f();
m1.Get(m3f);
x = m3f.m21 - m3f.m12;
y = m3f.m02 - m3f.m20;
z = m3f.m10 - m3f.m01;
double mag = x * x + y * y + z * z;
if (mag > Eps)
{
mag = Math.Sqrt(mag);
double sin = 0.5 * mag;
double cos = 0.5 * (m3f.m00 + m3f.m11 + m3f.m22 - 1.0);
angle = (float)Math.Atan2(sin, cos);
double invMag = 1.0 / mag;
x = (float)(x * invMag);
y = (float)(y * invMag);
z = (float)(z * invMag);
}
else
{
x = 0.0f;
y = 1.0f;
z = 0.0f;
angle = 0.0f;
}
}
