From 9c117b8832b5456cecab9bedd4b7f15ab2b98b62 Mon Sep 17 00:00:00 2001
From: yzrmn <yzrmn@users.noreply.github.com>
Date: Thu, 14 Nov 2024 12:28:58 +0100
Subject: [PATCH] Add quaternion method to extract rotation axis and angle

---
 packages/redgeometry/src/primitives/quaternion.ts | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/packages/redgeometry/src/primitives/quaternion.ts b/packages/redgeometry/src/primitives/quaternion.ts
index 007d333..a7814e5 100644
--- a/packages/redgeometry/src/primitives/quaternion.ts
+++ b/packages/redgeometry/src/primitives/quaternion.ts
@@ -562,6 +562,14 @@ export class Quaternion implements QuaternionLike {
         this.d = qd * cos + qa * sin;
     }
 
+    public rotationAngle(): number {
+        return 2 * Math.acos(this.a);
+    }
+
+    public rotationAxis(): Vector3 {
+        return new Vector3(this.b, this.c, this.d);
+    }
+
     /**
      * Returns the spherical linear interpolation of the current quaternion and `q`.
      */