public static Quaternion CreateFromAxisAngle(Vector3D axis, float angle)
{
Quaternion quaternion;
float num2 = angle * 0.5f;
float num = MathUtility.Sin(num2);
float num3 = MathUtility.Cos(num2);
quaternion.X = axis.X * num;
quaternion.Y = axis.Y * num;
quaternion.Z = axis.Z * num;
quaternion.W = num3;
return quaternion;
}