fix mat4_axis_angle and quat_to_mat4 bugs

mathc.c

@@ -2981,8 +2981,8 @@ mfloat_t *mat4_rotation_axis(mfloat_t *result, mfloat_t *v0, mfloat_t f)
 	mfloat_t s = MSIN(f);
 	mfloat_t one_c = MFLOAT_C(1.0) - c;
 	mfloat_t x = v0[0];
-	mfloat_t y = v0[4];
-	mfloat_t z = v0[8];
+	mfloat_t y = v0[1];
+	mfloat_t z = v0[2];
 	mfloat_t xx = x * x;
 	mfloat_t xy = x * y;
 	mfloat_t xz = x * z;
@@ -3017,21 +3017,21 @@ mfloat_t *mat4_rotation_quat(mfloat_t *result, mfloat_t *q0)
 	mfloat_t zz = q0[2] * q0[2];
 	mfloat_t xy = q0[0] * q0[1];
 	mfloat_t zw = q0[2] * q0[3];
-	mfloat_t xz = q0[8] * q0[0];
+	mfloat_t xz = q0[0] * q0[2];
 	mfloat_t yw = q0[1] * q0[3];
 	mfloat_t yz = q0[1] * q0[2];
 	mfloat_t xw = q0[0] * q0[3];
-	result[0] = MFLOAT_C(1.0) - MFLOAT_C(2.0) * (yy - zz);
+	result[0] = MFLOAT_C(1.0) - MFLOAT_C(2.0) * (yy + zz);
 	result[1] = MFLOAT_C(2.0) * (xy + zw);
 	result[2] = MFLOAT_C(2.0) * (xz - yw);
 	result[3] = MFLOAT_C(0.0);
 	result[4] = MFLOAT_C(2.0) * (xy - zw);
-	result[5] = MFLOAT_C(1.0) - MFLOAT_C(2.0) * (xx - zz);
+	result[5] = MFLOAT_C(1.0) - MFLOAT_C(2.0) * (xx + zz);
 	result[6] = MFLOAT_C(2.0) * (yz + xw);
 	result[7] = MFLOAT_C(0.0);
 	result[8] = MFLOAT_C(2.0) * (xz + yw);
 	result[9] = MFLOAT_C(2.0) * (yz - xw);
-	result[10] = MFLOAT_C(1.0) - MFLOAT_C(2.0) * (xx - yy);
+	result[10] = MFLOAT_C(1.0) - MFLOAT_C(2.0) * (xx + yy);
 	result[11] = MFLOAT_C(0.0);
 	result[12] = MFLOAT_C(0.0);
 	result[13] = MFLOAT_C(0.0);