Axiom.Math.Quaternion.Log C# (CSharp) Method

		public Quaternion Log()
		{
			// BLACKBOX: Learn this
			// If q = cos(A)+sin(A)*(x*i+y*j+z*k) where (x,y,z) is unit length, then
			// log(q) = A*(x*i+y*j+z*k).  If sin(A) is near zero, use log(q) =
			// sin(A)*(x*i+y*j+z*k) since sin(A)/A has limit 1.

			// start off with a zero quat
			Quaternion result = Quaternion.Zero;

			if ( Utility.Abs( w ) < 1.0f )
			{
				Real angle = (Real)Utility.ACos( w );
				Real sin = Utility.Sin( angle );

				if ( Utility.Abs( sin ) >= EPSILON )
				{
					Real coeff = angle / sin;
					result.x = coeff * x;
					result.y = coeff * y;
					result.z = coeff * z;
				}
				else
				{
					result.x = x;
					result.y = y;
					result.z = z;
				}
			}

			return result;
		}