docs: @SuppressWarnings("synthetic-access")
  	@Pure
  	public final AxisAngle getAxisAngle() {
  		double mag = this.x*this.x + this.y*this.y + this.z*this.z;  
  
  		if ( mag > EPS ) {
  			mag = Math.sqrt(mag);
  			double invMag = 1f/mag;
  
  			return new AxisAngle(
  					this.x*invMag,
  					this.y*invMag,
  					this.z*invMag,
  					(2.*Math.atan2(mag, this.w)));
  		}
  		return new AxisAngle(0, 0, 1, 0);
  	}