rotation-quaternion ( theta axis -- quaternion )

Vocabulary

jamshred.oint

Inputs

theta	an object
axis	an object

Outputs

quaternion

an object

Definition

USING: arrays kernel math math.functions math.vectors sequences
;

IN: jamshred.oint

: rotation-quaternion ( theta axis -- quaternion )
    swap 2 / dup cos swap sin rot n*v first3 rect> [ rect> ] dip
    2array ;