module.exports = setAxisAngle

/**
 * Sets a quat from the given angle and rotation axis,
 * then returns it.
 *
 * @param {quat} out the receiving quaternion
 * @param {vec3} axis the axis around which to rotate
 * @param {Number} rad the angle in radians
 * @returns {quat} out
 **/
function setAxisAngle (out, axis, rad) {
  rad = rad * 0.5
  var s = Math.sin(rad)
  out[0] = s * axis[0]
  out[1] = s * axis[1]
  out[2] = s * axis[2]
  out[3] = Math.cos(rad)
  return out
}