QuaternionRotation Method (Double, Vector3d)

Returns the unit quaternion cos(angle/2), sin(angle/2)*x, sin(angle/2)*y, sin(angle/2)*z where (x,y,z) is the unit vector parallel to axis. This is the unit quaternion that represents the rotation of angle about axis.

public static Quaternion Rotation(
	double angle,
	Vector3d axisOfRotation
)

Public Shared Function Rotation ( 
	angle As Double,
	axisOfRotation As Vector3d
) As Quaternion