+bool Quaternion::IsIdentity() const
+{
+ // start from w as its unlikely that any real rotation has w == 1
+ // Uses a relaxed epsilon, as composition of rotation introduces error
+ return ( ( fabsf( mVector.w - 1.0f ) < Math::MACHINE_EPSILON_10 )&&
+ ( fabsf( mVector.x ) < Math::MACHINE_EPSILON_10 )&&
+ ( fabsf( mVector.y ) < Math::MACHINE_EPSILON_10 )&&
+ ( fabsf( mVector.z ) < Math::MACHINE_EPSILON_10 ) );
+}
+
+bool Quaternion::ToAxisAngle(Vector3& axis, Radian& angle) const