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source files: xtfm.[ch]
SYNTAX
(XG.3D-QUATERNION-TO-AXIS-ANGLE (<x> <y> <z> <w>))
DESCRIPTION
Turn a quaternion into an axis of rotation and an angle. The call
returns a two-element list containing:
- (x y z) vector specifying axis of rotation
- angle angle of rotation (in radians)
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