code: public AxisAngle4f get(AxisAngle4f dest) {
          float x = this.x;
          float y = this.y;
          float z = this.z;
          float w = this.w;
          if (w > 1.0f) {
              float invNorm = (float) (1.0 / Math.sqrt(x * x + y * y + z * z + w * w));
              x *= invNorm;
              y *= invNorm;
              z *= invNorm;
              w *= invNorm;
          }
          dest.angle = (float) (2.0f * Math.acos(w));
          float s = (float) Math.sqrt(1.0 - w * w);
          if (s < 0.001f) {
              dest.x = x;
              dest.y = y;
              dest.z = z;
          } else {
              s = 1.0f / s;
              dest.x = x * s;
              dest.y = y * s;
              dest.z = z * s;
          }
          return dest;
      }
docs: /* (non-Javadoc)
  @see org.joml.Quaternionfc#get(org.joml.AxisAngle4f)