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Mat33 ConvertAngleAxisToMat33 (Vec4 angleAxis) {
float x = angleAxis[1];
float y = angleAxis[2];
float z = angleAxis[3];
float s = sin(angleAxis[0]);
float c = cos(angleAxis[0]);
float t = 1-cos(angleAxis[0]);
Mat33 outMat33 ;
outMat33[0][0] = t*x*x+c;
outMat33[0][1] = t*x*y-s*z;
outMat33[0][2] = t*x*z+s*y;
//outMat33[0][0] = [t*x*x+c, t*x*y-s*z, t*x*z+s*y];
outMat33[1][0] = t*x*y+s*z;
outMat33[1][1] = t*y*y+c;
outMat33[1][2] = t*y*z-s*x;
outMat33[2][0] = t*x*z-s*y;
outMat33[2][1] = t*y*z+s*x;
outMat33[2][2] = t*z*z+c ;
//outMat33[0] = [[t*x*x+c, t*x*y-s*z, t*x*z+s*y]
// [t*x*y+s*z,t*y*y+c,t*y*z-s*x]
//[t*x*z-s*y,t*y*z+s*x,t*z*z+c]] ;
return outMat33;
};
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