z = m.m01() - m.m10();
double sin = 0.5*Math.sqrt(x*x + y*y + z*z);
angle = Math.atan2(sin, cos);
return this;
}
<BUG>public AxisAngle4d set(Matrix4x3f m) {
</BUG>
double cos = (m.m00() + m.m11() + m.m22() - 1.0)*0.5;
x = m.m12() - m.m21();
y = m.m20() - m.m02();

z = m.m01() - m.m10();
double sin = 0.5*Math.sqrt(x*x + y*y + z*z);
angle = Math.atan2(sin, cos);
return this;
}
public AxisAngle4d set(Matrix3dc m) {
double cos = (m.m00() + m.m11() + m.m22() - 1.0)*0.5;
x = m.m12() - m.m21();
y = m.m20() - m.m02();
