- quaternion-axis-angle-rotation AXIS ANGLE #!optional RESULTprocedure
Return the quaternion corresponding to a rotation of ANGLE radians around the vector AXIS. If the quaternion RESULT is given, it will be modified to contain the result. If RESULT is #t the returned value will be an f32vector located in non-garbage-collected memory (the memory will still be freed when there are no more references to the matrix). If RESULT is not provided, the returned value will be an f32vector located in normal garbage collected memory.