ln.ethercat/ln.ethercat/kinematics/RotationalJoint.cs

using System.Numerics;

namespace ln.ethercat.kinematics
{
    public class RotationalJoint : Joint
    {
        private Vector3 axis;
        private float angle;
        
        public RotationalJoint()
        {
        }

        public Vector3 Axis
        {
            get => axis;
            set
            {
                ForwardMatrix = Matrix4x4.CreateFromAxisAngle(value, angle);
                axis = value;
            }
        }

        public float Angle
        {
            get => angle;
            set
            {
                ForwardMatrix = Matrix4x4.CreateFromAxisAngle(axis, value);
                angle = value;
            }
        }
    }
}