kmVec3* const kmMat3RotationToAxisAngle(kmVec3* pAxis, kmScalar* radians, const kmMat3* pIn)
{
/*Surely not this easy?*/
kmQuaternion temp;
kmQuaternionRotationMatrix(&temp, pIn);
kmQuaternionToAxisAngle(&temp, pAxis, radians);
return pAxis;
}
/**
* Take the rotation from a 4x4 transformation matrix, and return it as an axis and an angle (in radians)
* returns the output axis.
*/
kmVec3* kmMat4RotationToAxisAngle(kmVec3* pAxis, kmScalar* radians, const kmMat4* pIn)
{
/*Surely not this easy?*/
kmQuaternion temp;
kmMat3 rotation;
kmMat4ExtractRotation(&rotation, pIn);
kmQuaternionRotationMatrix(&temp, &rotation);
kmQuaternionToAxisAngle(&temp, pAxis, radians);
return pAxis;
}