public static void CreateFromYawPitchRoll(Fix64 yaw, Fix64 pitch, Fix64 roll, out FPQuaternion result)
{
Fix64 num9 = roll * Fix64.Half;
Fix64 num6 = Fix64.Sin(num9);
Fix64 num5 = Fix64.Cos(num9);
Fix64 num8 = pitch * Fix64.Half;
Fix64 num4 = Fix64.Sin(num8);
Fix64 num3 = Fix64.Cos(num8);
Fix64 num7 = yaw * Fix64.Half;
Fix64 num2 = Fix64.Sin(num7);
Fix64 num = Fix64.Cos(num7);
result.x = ((num * num4) * num5) + ((num2 * num3) * num6);
result.y = ((num2 * num3) * num5) - ((num * num4) * num6);
result.z = ((num * num3) * num6) - ((num2 * num4) * num5);
result.w = ((num * num3) * num5) + ((num2 * num4) * num6);
}
public static FPQuaternion AngleAxis(Fix64 angle, FPVector axis)
{
axis = axis * Fix64.Deg2Rad;
axis.Normalize();
Fix64 halfAngle = angle * Fix64.Deg2Rad * Fix64.Half;
FPQuaternion rotation;
Fix64 sin = Fix64.Sin(halfAngle);
rotation.x = axis.x * sin;
rotation.y = axis.y * sin;
rotation.z = axis.z * sin;
rotation.w = Fix64.Cos(halfAngle);
return(rotation);
}
