void Quaternion::AxisToQuat(const Vector3D &v, const float angle)
{
//float x,y,z; // temp vars of vector
double rad, scale; // temp vars
if (v.IsZero()) // if axis is zero, then return quaternion (1,0,0,0)
{
w = 1.0f;
x = 0.0f;
y = 0.0f;
z = 0.0f;
return;
}
assert(v.IsUnit()); // make sure the axis is a unit vector
rad = angle / 2;
w = (float)cos(rad);
scale = sin(rad);
//v.GetValues(x, y, z);
this->x = float(v.x * scale);
this->y = float(v.y * scale);
this->z = float(v.z * scale);
Normalize(); // make sure a unit quaternion turns up
return;
} // end void AxisToQuat(..)
