@woosh/meep-engine/src/core/geom/3d/quaternion/quat3_createFromAxisAngle.js

Pure JavaScript game engine. Fully featured and production ready.

/**
 * just in case you need that function also
 * @param {Vector3} axis
 * @param {number} angle
 * @param {Quaternion} result
 */
export function quat3_createFromAxisAngle(axis, angle, result) {
    const halfAngle = angle * .5;
    const s = Math.sin(halfAngle);
    result.set(axis.x * s, axis.y * s, axis.z * s, Math.cos(halfAngle));
}