protected void toAxisAngle()
{
double s = Math.Sqrt(1 - Angle * Angle);
if (Math.Abs(s) < 0.001) s = 1;
Angle = (double)(2 * Math.Acos(Angle));
X = (double)(X / s);
Y = (double)(Y / s);
Z = (double)(Z / s);
}