@ SuppressWarnings ( "synthetic-access" ) @ Pure public final AxisAngle getAxisAngle ( ) { double mag = this . x * this . x + this . y * this . y + this . z * this . z ; if ( mag > EPS ) { mag = Math . sqrt ( mag ) ; double invMag = 1f / mag ; return new AxisAngle ( this . x * invMag , this . y * invMag , this . z * invMag , ( 2. * Math . atan2 ( mag , this . w ) ) ) ; } return new AxisAngle ( 0 , 0 , 1 , 0 ) ; }
Replies the rotation axis represented by this quaternion .