FUNCTION SMC_Quat1_Exp : BOOL
Creates a unit quaternion that represents a rotation of the given angle around the given axis. Axis/angle is represented by a single quaternion q = (0, u*alpha/2) where u is the unit vector along the axis of rotation and alpha is the angle of rotation. Note the scaling by 1/2!
The result is undefined if the real part of the quaternion is non-zero.
(Note: each rotation is represented by two quaternions: if q represents a rotation (i.e. if |q| = 1) then -q represents the same rotation.)
InOut:
