Method fromAxisAngleRad

src/main/java/field/linalg/Quat.java:444–455

Set this quaternion to be a representation of the supplied axis and angle (in radians). @param axis the rotation axis @param angle the angle in radians @return this

(Vec3 axis, double angle)

	 * @param angle the angle in radians
	 * @return this
	 */
	public Quat fromAxisAngleRad(Vec3 axis, double angle) {
		double hangle = angle / 2.0;
		double sinAngle = Math.sin(hangle);  
		double vLength = axis.length();

		x = axis.x / vLength * sinAngle;
		y = axis.y / vLength * sinAngle;
		z = axis.z / vLength * sinAngle;
		w = Math.cos(hangle);

		return this;
	}

	/**