Fix Spacing

include/J3ML/LinearAlgebra/AxisAngle.h

@@ -16,6 +16,50 @@ namespace J3ML::LinearAlgebra
         float angle;
     public:
         AxisAngle();
+        explicit AxisAngle(const Quaternion& q)
+        {
+            auto theta = std::acos(q.w) * 2.f;
+            auto ax = q.x / std::sin(std::acos(theta));
+            auto ay = q.y / std::sin(std::acos(theta));
+            auto az = q.z / std::sin(std::acos(theta));
+        }
+        explicit AxisAngle(const EulerAngle& e)
+        {
+
+            // Assuming the angles are in radians
+
+            float heading = e.pitch;
+            float attitude = e.yaw;
+            float bank = e.roll;
+
+            float c1 = std::cos(heading / 2.f);
+            float s1 = std::sin(heading / 2.f);
+            float c2 = std::cos(attitude / 2.f);
+            float s2 = std::sin(attitude / 2.f);
+            float c3 = std::cos(bank / 2.f);
+            float s3 = std::sin(bank / 2.f);
+
+            float w = c1*c2*c3 - s1*s2*s3;
+            float x = c1*c2*c3 + s1*s2*s3;
+            float y = s1*c2*c3 + c1*s2*s3;
+            float z = c1*s2*c3 - s1*c2*s3;
+
+            angle = 2.f * std::acos(w);
+
+            double norm = x*x + y*y + z*z;
+            if (norm < 0.001) { // when all euler angles are zero angle=0, so
+                // we can set axis to anything to avoid divide by zero
+                x = 1;
+                y = z = 0;
+            } else {
+                norm = std::sqrt(norm);
+                x /= norm;
+                y /= norm;
+                z /= norm;
+            }
+
+            axis = {x, y, z};
+        }
 
         AxisAngle(const Vector3 &axis, float angle);