Essential Math Weblog Thoughts on math for games

There is a bug in the code that gets the axis and angle information from a rotation matrix. Where the angle is 180 degrees (the last else statement) it computes the reciprocal value incorrectly. The original code is:
[cpp]
float recip = 0.5f/s;
[/cpp]
The fixed code should be:
[cpp]
float recip = 1.0f/s;
[/cpp]
This should be corrected in both IvMatrix33 and IvMatrix44.