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diff --git a/src/org/jogamp/vecmath/AxisAngle4f.java b/src/org/jogamp/vecmath/AxisAngle4f.java
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+/*
+ * Copyright 1997-2008 Sun Microsystems, Inc.  All Rights Reserved.
+ * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
+ *
+ * This code is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License version 2 only, as
+ * published by the Free Software Foundation.  Sun designates this
+ * particular file as subject to the "Classpath" exception as provided
+ * by Sun in the LICENSE file that accompanied this code.
+ *
+ * This code is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+ * version 2 for more details (a copy is included in the LICENSE file that
+ * accompanied this code).
+ *
+ * You should have received a copy of the GNU General Public License version
+ * 2 along with this work; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA.
+ *
+ * Please contact Sun Microsystems, Inc., 4150 Network Circle, Santa Clara,
+ * CA 95054 USA or visit www.sun.com if you need additional information or
+ * have any questions.
+ *
+ */
+
+package org.jogamp.vecmath;
+
+
+/**
+ * A four-element axis angle represented by single-precision floating point
+ * x,y,z,angle components.  An axis angle is a rotation of angle (radians)
+ * about the vector (x,y,z).
+ *
+ */
+public class AxisAngle4f implements java.io.Serializable, Cloneable {
+
+  // Compatible with 1.1
+  static final long serialVersionUID = -163246355858070601L;
+
+  /**
+   * The x coordinate.
+   */
+  public	float	x;
+
+  /**
+   * The y coordinate.
+   */
+  public	float	y;
+
+  /**
+   * The z coordinate.
+   */
+  public	float	z;
+
+  /**
+   * The angle of rotation in radians.
+   */
+  public	float	angle;
+
+  final static double EPS = 0.000001;
+
+  /**
+   * Constructs and initializes a AxisAngle4f from the specified xyzw coordinates.
+   * @param x the x coordinate
+   * @param y the y coordinate
+   * @param z the z coordinate
+   * @param angle  the angle of rotation in radians
+   */
+  public AxisAngle4f(float x, float y, float z, float angle)
+  {
+    this.x = x;
+    this.y = y;
+    this.z = z;
+    this.angle = angle;
+  }
+
+
+  /**
+   * Constructs and initializes an AxisAngle4f from the array of length 4.
+   * @param a the array of length 4 containing x,y,z,angle in order
+   */
+  public AxisAngle4f(float[] a)
+  {
+    this.x = a[0];
+    this.y = a[1];
+    this.z = a[2];
+    this.angle = a[3];
+  }
+
+
+  /**
+   * Constructs and initializes an AxisAngle4f from the specified
+   * AxisAngle4f.
+   * @param a1 the AxisAngle4f containing the initialization x y z angle data
+   */
+  public AxisAngle4f(AxisAngle4f a1)
+  {
+    this.x = a1.x;
+    this.y = a1.y;
+    this.z = a1.z;
+    this.angle = a1.angle;
+  }
+
+
+  /**
+   * Constructs and initializes an AxisAngle4f from the specified AxisAngle4d.
+   * @param a1 the AxisAngle4d containing the initialization x y z angle data
+   */
+  public AxisAngle4f(AxisAngle4d a1)
+  {
+    this.x = (float) a1.x;
+    this.y = (float) a1.y;
+    this.z = (float) a1.z;
+    this.angle = (float) a1.angle;
+  }
+
+
+    /**
+     * Constructs and initializes an AxisAngle4f from the specified
+     * axis and angle.
+     * @param axis the axis
+     * @param angle the angle of rotation in radians
+     *
+     * @since vecmath 1.2
+     */
+    public AxisAngle4f(Vector3f axis, float angle) {
+	this.x = axis.x;
+	this.y = axis.y;
+	this.z = axis.z;
+	this.angle = angle;
+    }
+
+
+  /**
+   * Constructs and initializes an AxisAngle4f to (0,0,1,0).
+   */
+  public AxisAngle4f()
+  {
+    this.x = 0.0f;
+    this.y = 0.0f;
+    this.z = 1.0f;
+    this.angle = 0.0f;
+  }
+
+
+    /**
+     * Sets the value of this axis-angle to the specified x,y,z,angle.
+     * @param x the x coordinate
+     * @param y the y coordinate
+     * @param z the z coordinate
+     * @param angle  the angle of rotation in radians
+     */
+    public final void set(float x, float y, float z, float angle)
+    {
+	this.x = x;
+	this.y = y;
+	this.z = z;
+	this.angle = angle;
+    }
+
+
+    /**
+     * Sets the value of this axis-angle to the specified values in the
+     * array of length 4.
+     * @param a the array of length 4 containing x,y,z,angle in order
+     */
+    public final void set(float[] a)
+    {
+	this.x = a[0];
+	this.y = a[1];
+	this.z = a[2];
+	this.angle = a[3];
+    }
+
+
+    /**
+     * Sets the value of this axis-angle to the value of axis-angle a1.
+     * @param a1 the axis-angle to be copied
+     */
+    public final void set(AxisAngle4f a1)
+    {
+	this.x = a1.x;
+	this.y = a1.y;
+	this.z = a1.z;
+	this.angle = a1.angle;
+    }
+
+
+    /**
+     * Sets the value of this axis-angle to the value of axis-angle a1.
+     * @param a1 the axis-angle to be copied
+     */
+    public final void set(AxisAngle4d a1)
+    {
+	this.x = (float) a1.x;
+	this.y = (float) a1.y;
+	this.z = (float) a1.z;
+	this.angle = (float) a1.angle;
+    }
+
+
+    /**
+     * Sets the value of this AxisAngle4f to the specified
+     * axis and angle.
+     * @param axis the axis
+     * @param angle the angle of rotation in radians
+     *
+     * @since vecmath 1.2
+     */
+    public final void set(Vector3f axis, float angle) {
+	this.x = axis.x;
+	this.y = axis.y;
+	this.z = axis.z;
+	this.angle = angle;
+    }
+
+
+    /**
+     * Copies the value of this axis-angle into the array a.
+     * @param a the array
+     */
+   public final void get(float[] a)
+   {
+      a[0] = this.x;
+      a[1] = this.y;
+      a[2] = this.z;
+      a[3] = this.angle;
+   }
+
+
+    /**
+      * Sets the value of this axis-angle to the rotational equivalent
+      * of the passed quaternion.
+      * If the specified quaternion has no rotational component, the value
+      * of this AxisAngle4f is set to an angle of 0 about an axis of (0,1,0).
+      * @param q1  the Quat4f
+      */
+    public final void set(Quat4f q1)
+    {
+	double mag = q1.x*q1.x + q1.y*q1.y + q1.z*q1.z;
+
+	if ( mag > EPS ) {
+	    mag = Math.sqrt(mag);
+	    double invMag = 1.0/mag;
+
+	    x = (float)(q1.x*invMag);
+	    y = (float)(q1.y*invMag);
+	    z = (float)(q1.z*invMag);
+	    angle = (float)(2.0*Math.atan2(mag, q1.w));
+        } else {
+	    x = 0.0f;
+	    y = 1.0f;
+	    z = 0.0f;
+	    angle = 0.0f;
+	}
+    }
+
+
+    /**
+      * Sets the value of this axis-angle to the rotational equivalent
+      * of the passed quaternion.
+      * If the specified quaternion has no rotational component, the value
+      * of this AxisAngle4f is set to an angle of 0 about an axis of (0,1,0).
+      * @param q1  the Quat4d
+      */
+    public final void set(Quat4d q1)
+    {
+        double mag = q1.x*q1.x + q1.y*q1.y + q1.z*q1.z;
+
+        if (mag > EPS) {
+	    mag = Math.sqrt(mag);
+	    double invMag = 1.0/mag;
+
+	    x = (float)(q1.x*invMag);
+	    y = (float)(q1.y*invMag);
+	    z = (float)(q1.z*invMag);
+	    angle = (float)(2.0*Math.atan2(mag, q1.w));
+        } else {
+	    x = 0.0f;
+	    y = 1.0f;
+	    z = 0.0f;
+	    angle = 0.0f;
+	}
+    }
+
+
+  /**
+   * Sets the value of this axis-angle to the rotational component of
+   * the passed matrix.
+   * If the specified matrix has no rotational component, the value
+   * of this AxisAngle4f is set to an angle of 0 about an axis of (0,1,0).
+   * @param m1 the matrix4f
+   */
+  public final void set(Matrix4f m1)
+  {
+        Matrix3f m3f = new Matrix3f();
+
+        m1.get(m3f);
+
+        x = m3f.m21 - m3f.m12;
+        y = m3f.m02 - m3f.m20;
+        z = m3f.m10 - m3f.m01;
+        double mag = x*x + y*y + z*z;
+
+	if (mag > EPS) {
+	    mag = Math.sqrt(mag);
+	    double sin = 0.5*mag;
+	    double cos = 0.5*(m3f.m00 + m3f.m11 + m3f.m22 - 1.0);
+
+	    angle = (float)Math.atan2(sin, cos);
+	    double invMag = 1.0/mag;
+	    x = (float)(x*invMag);
+	    y = (float)(y*invMag);
+	    z = (float)(z*invMag);
+	} else {
+	    x = 0.0f;
+	    y = 1.0f;
+	    z = 0.0f;
+	    angle = 0.0f;
+	}
+
+
+  }
+
+
+  /**
+   * Sets the value of this axis-angle to the rotational component of
+   * the passed matrix.
+   * If the specified matrix has no rotational component, the value
+   * of this AxisAngle4f is set to an angle of 0 about an axis of (0,1,0).
+   * @param m1 the matrix4d
+   */
+  public final void set(Matrix4d m1)
+  {
+        Matrix3d m3d = new Matrix3d();
+
+        m1.get(m3d);
+
+
+        x = (float)(m3d.m21 - m3d.m12);
+        y = (float)(m3d.m02 - m3d.m20);
+        z = (float)(m3d.m10 - m3d.m01);
+        double mag = x*x + y*y + z*z;
+
+	if (mag > EPS) {
+	    mag = Math.sqrt(mag);
+	    double sin = 0.5*mag;
+	    double cos = 0.5*(m3d.m00 + m3d.m11 + m3d.m22 - 1.0);
+	    angle = (float)Math.atan2(sin, cos);
+
+	    double invMag = 1.0/mag;
+	    x = (float)(x*invMag);
+	    y = (float)(y*invMag);
+	    z = (float)(z*invMag);
+	} else {
+	    x = 0.0f;
+	    y = 1.0f;
+	    z = 0.0f;
+	    angle = 0.0f;
+	}
+
+  }
+
+
+  /**
+   * Sets the value of this axis-angle to the rotational component of
+   * the passed matrix.
+   * If the specified matrix has no rotational component, the value
+   * of this AxisAngle4f is set to an angle of 0 about an axis of (0,1,0).
+   * @param m1 the matrix3f
+   */
+  public final void set(Matrix3f m1)
+  {
+        x = (float)(m1.m21 - m1.m12);
+        y = (float)(m1.m02 - m1.m20);
+        z = (float)(m1.m10 - m1.m01);
+        double mag = x*x + y*y + z*z;
+	if (mag > EPS) {
+	    mag = Math.sqrt(mag);
+	    double sin = 0.5*mag;
+	    double cos = 0.5*(m1.m00 + m1.m11 + m1.m22 - 1.0);
+
+	    angle = (float)Math.atan2(sin, cos);
+
+	    double invMag = 1.0/mag;
+	    x = (float)(x*invMag);
+	    y = (float)(y*invMag);
+	    z = (float)(z*invMag);
+	} else {
+	    x = 0.0f;
+	    y = 1.0f;
+	    z = 0.0f;
+	    angle = 0.0f;
+	}
+
+  }
+
+
+  /**
+   * Sets the value of this axis-angle to the rotational component of
+   * the passed matrix.
+   * If the specified matrix has no rotational component, the value
+   * of this AxisAngle4f is set to an angle of 0 about an axis of (0,1,0).
+   * @param m1 the matrix3d
+   */
+  public final void set(Matrix3d m1)
+  {
+
+        x = (float)(m1.m21 - m1.m12);
+        y = (float)(m1.m02 - m1.m20);
+        z = (float)(m1.m10 - m1.m01);
+        double mag = x*x + y*y + z*z;
+
+	if (mag > EPS) {
+	    mag = Math.sqrt(mag);
+	    double sin = 0.5*mag;
+	    double cos = 0.5*(m1.m00 + m1.m11 + m1.m22 - 1.0);
+
+	    angle = (float)Math.atan2(sin, cos);
+
+	    double invMag = 1.0/mag;
+	    x = (float)(x*invMag);
+	    y = (float)(y*invMag);
+	    z = (float)(z*invMag);
+	} else {
+	    x = 0.0f;
+	    y = 1.0f;
+	    z = 0.0f;
+	    angle = 0.0f;
+	}
+  }
+
+
+   /**
+     * Returns a string that contains the values of this AxisAngle4f.
+     * The form is (x,y,z,angle).
+     * @return the String representation
+     */
+    @Override
+    public String toString() {
+	return "(" + this.x + ", " + this.y + ", " + this.z + ", " + this.angle + ")";
+    }
+
+
+   /**
+     * Returns true if all of the data members of AxisAngle4f a1 are
+     * equal to the corresponding data members in this AxisAngle4f.
+     * @param a1  the axis-angle with which the comparison is made
+     * @return  true or false
+     */
+    public boolean equals(AxisAngle4f a1)
+    {
+        try {
+            return(this.x == a1.x && this.y == a1.y && this.z == a1.z
+            && this.angle == a1.angle);
+        }
+        catch (NullPointerException e2) {return false;}
+
+    }
+
+    /**
+     * Returns true if the Object o1 is of type AxisAngle4f and all of the
+     * data members of o1 are equal to the corresponding data members in
+     * this AxisAngle4f.
+     * @param o1  the object with which the comparison is made
+     * @return  true or false
+      */
+    @Override
+    public boolean equals(Object o1)
+    {
+        try {
+           AxisAngle4f a2 = (AxisAngle4f) o1;
+           return(this.x == a2.x && this.y == a2.y && this.z == a2.z
+            && this.angle == a2.angle);
+        }
+        catch (NullPointerException e2) {return false;}
+        catch (ClassCastException   e1) {return false;}
+
+    }
+
+   /**
+     * Returns true if the L-infinite distance between this axis-angle
+     * and axis-angle a1 is less than or equal to the epsilon parameter,
+     * otherwise returns false.  The L-infinite
+     * distance is equal to
+     * MAX[abs(x1-x2), abs(y1-y2), abs(z1-z2), abs(angle1-angle2)].
+     * @param a1  the axis-angle to be compared to this axis-angle
+     * @param epsilon  the threshold value
+     */
+    public boolean epsilonEquals(AxisAngle4f a1, float epsilon)
+    {
+       float diff;
+
+       diff = x - a1.x;
+       if((diff<0?-diff:diff) > epsilon) return false;
+
+       diff = y - a1.y;
+       if((diff<0?-diff:diff) > epsilon) return false;
+
+       diff = z - a1.z;
+       if((diff<0?-diff:diff) > epsilon) return false;
+
+       diff = angle - a1.angle;
+       if((diff<0?-diff:diff) > epsilon) return false;
+
+       return true;
+
+    }
+
+
+    /**
+     * Returns a hash code value based on the data values in this
+     * object.  Two different AxisAngle4f objects with identical data values
+     * (i.e., AxisAngle4f.equals returns true) will return the same hash
+     * code value.  Two objects with different data members may return the
+     * same hash value, although this is not likely.
+     * @return the integer hash code value
+     */
+    @Override
+    public int hashCode() {
+	long bits = 1L;
+	bits = VecMathUtil.hashFloatBits(bits, x);
+	bits = VecMathUtil.hashFloatBits(bits, y);
+	bits = VecMathUtil.hashFloatBits(bits, z);
+	bits = VecMathUtil.hashFloatBits(bits, angle);
+	return VecMathUtil.hashFinish(bits);
+    }
+
+    /**
+     * Creates a new object of the same class as this object.
+     *
+     * @return a clone of this instance.
+     * @exception OutOfMemoryError if there is not enough memory.
+     * @see java.lang.Cloneable
+     * @since vecmath 1.3
+     */
+    @Override
+    public Object clone() {
+	// Since there are no arrays we can just use Object.clone()
+	try {
+	    return super.clone();
+	} catch (CloneNotSupportedException e) {
+	    // this shouldn't happen, since we are Cloneable
+	    throw new InternalError();
+	}
+    }
+
+
+    /**
+	 * Get the axis angle, in radians.<br>
+	 * An axis angle is a rotation angle about the vector (x,y,z).
+	 *
+	 * @return Returns the angle, in radians.
+	 *
+	 * @since vecmath 1.5
+	 */
+	public final float getAngle() {
+		return angle;
+	}
+
+
+	/**
+	 * Set the axis angle, in radians.<br>
+	 * An axis angle is a rotation angle about the vector (x,y,z).
+	 *
+	 * @param angle The angle to set, in radians.
+	 *
+	 * @since vecmath 1.5
+	 */
+	public final void setAngle(float angle) {
+		this.angle = angle;
+	}
+
+
+	/**
+	 * Get value of <i>x</i> coordinate.
+	 *
+	 * @return the <i>x</i> coordinate.
+	 *
+	 * @since vecmath 1.5
+	 */
+	public final float getX() {
+		return x;
+	}
+
+
+	/**
+	 * Set a new value for <i>x</i> coordinate.
+	 *
+	 * @param x the <i>x</i> coordinate.
+	 *
+	 * @since vecmath 1.5
+	 */
+	public final void setX(float x) {
+		this.x = x;
+	}
+
+
+	/**
+	 * Get value of <i>y</i> coordinate.
+	 *
+	 * @return the <i>y</i> coordinate
+	 *
+	 * @since vecmath 1.5
+	 */
+	public final float getY() {
+		return y;
+	}
+
+
+	/**
+	 * Set a new value for <i>y</i> coordinate.
+	 *
+	 * @param y the <i>y</i> coordinate.
+	 *
+	 * @since vecmath 1.5
+	 */
+	public final void setY(float y) {
+		this.y = y;
+	}
+
+
+	/**
+	 * Get  value of <i>z</i> coordinate.
+	 *
+	 * @return the <i>z</i> coordinate.
+	 *
+	 * @since vecmath 1.5
+	 */
+	public final float getZ() {
+		return z;
+	}
+
+
+	/**
+	 * Set a new value for <i>z</i> coordinate.
+	 *
+	 * @param z the <i>z</i> coordinate.
+	 *
+	 * @since vecmath 1.5
+	 */
+	public final void setZ(float z) {
+		this.z = z;
+	}
+
+}