From 559a3b8b39b35a7f6542d0b567dc4559b421edbd Mon Sep 17 00:00:00 2001
From: Onek8 <mail@1k8.org>
Date: Sun, 6 Apr 2025 14:30:52 +0000
Subject: [PATCH] Update leenkx/Sources/iron/math/Quat.hx

---
 leenkx/Sources/iron/math/Quat.hx | 32 ++++++++++++++++++++++++++------
 1 file changed, 26 insertions(+), 6 deletions(-)

diff --git a/leenkx/Sources/iron/math/Quat.hx b/leenkx/Sources/iron/math/Quat.hx
index e0d744f..3c23b89 100644
--- a/leenkx/Sources/iron/math/Quat.hx
+++ b/leenkx/Sources/iron/math/Quat.hx
@@ -66,12 +66,32 @@ class Quat {
 	}
 
 	public inline function fromAxisAngle(axis: Vec4, angle: FastFloat): Quat {
-		var s: FastFloat = Math.sin(angle * 0.5);
-		x = axis.x * s;
-		y = axis.y * s;
-		z = axis.z * s;
-		w = Math.cos(angle * 0.5);
-		return normalize();
+		//var s: FastFloat = Math.sin(angle * 0.5);
+		//x = axis.x * s;
+		//y = axis.y * s;
+		//z = axis.z * s;
+		//w = Math.cos(angle * 0.5);
+		//return normalize();
+		// Normalize the axis vector first
+		var axisLen = Math.sqrt(axis.x * axis.x + axis.y * axis.y + axis.z * axis.z);
+		if (axisLen > 0.00001) {
+			var aL = 1.0 / axisLen;
+			var nX = axis.x * aL;
+			var nY = axis.y * aL;
+			var nZ = axis.z * aL;
+			var halfAngle = angle * 0.5;
+			var s: FastFloat = Math.sin(halfAngle);
+			x = nX * s;
+			y = nY * s;
+			z = nZ * s;
+			w = Math.cos(halfAngle);
+		} else {
+			x = 0.0;
+			y = 0.0;
+			z = 0.0;
+			w = 1.0;
+		}
+		return this;
 	}
 
 	public inline function toAxisAngle(axis: Vec4): FastFloat {