public void CalculateAnglesFromMatrices()
{
this.Scale = this.Matrix.ExtractScale();
this.Translate = this.Matrix.ExtractTranslation();
Matrix4 mq = Matrix4.CreateFromQuaternion(this.Matrix.ExtractRotation());
double sy = Math.Sqrt(mq.M11 * mq.M11 + mq.M12 * mq.M12);
bool singular = sy < 1e-6;
if (!singular)
{
this.Rotate.X = DAE.GetSingle(Math.Atan2(mq.M23, mq.M33));
this.Rotate.Y = DAE.GetSingle(Math.Atan2(-mq.M13, sy));
this.Rotate.Z = DAE.GetSingle(Math.Atan2(mq.M12, mq.M11));
}
else
{
this.Rotate.X = DAE.GetSingle(Math.Atan2(-mq.M32, mq.M22));
this.Rotate.Y = DAE.GetSingle(Math.Atan2(-mq.M13, sy));
this.Rotate.Z = 0;
}
}
