/**
* Sets the value of this axis-angle to the rotational component of the passed matrix. If the
* specified matrix has no rotational component, the value of this AxisAngle4f is set to an angle
* of 0 about an axis of (0,1,0).
*
* @param m1 the matrix4f
*/
public final void set(Matrix4f m1) {
Matrix3f m3f = new Matrix3f();
m1.get(m3f);
x = m3f.m21 - m3f.m12;
y = m3f.m02 - m3f.m20;
z = m3f.m10 - m3f.m01;
double mag = x * x + y * y + z * z;
if (mag > EPS) {
mag = Math.sqrt(mag);
double sin = 0.5 * mag;
double cos = 0.5 * (m3f.m00 + m3f.m11 + m3f.m22 - 1.0);
angle = (float) Math.atan2(sin, cos);
double invMag = 1.0 / mag;
x = (float) (x * invMag);
y = (float) (y * invMag);
z = (float) (z * invMag);
} else {
x = 0.0f;
y = 1.0f;
z = 0.0f;
angle = 0.0f;
}
}
