Axiom.Math.Quaternion.Exp C# (CSharp) Метод

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

			Real angle = Utility.Sqrt( x * x + y * y + z * z );
			Real sin = Utility.Sin( angle );

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

			result.w = Utility.Cos( angle );

			if ( Utility.Abs( sin ) >= EPSILON )
			{
				Real coeff = sin / angle;

				result.x = coeff * x;
				result.y = coeff * y;
				result.z = coeff * z;
			}
			else
			{
				result.x = x;
				result.y = y;
				result.z = z;
			}

			return result;
		}