Vector toEuler()
{
double sqw = W * W;
double sqx = X * X;
double sqy = Y * Y;
double sqz = Z * Z;
var ret = new Vector {
X = (float)Math.Atan2((2.0*(X*Y + Z*W)), (sqx - sqy - sqz + sqw)),
Y = (float)Math.Asin(-2.0*(X*Z - Y*W)/(sqx + sqy + sqz + sqw)),
Z = (float)Math.Atan2(2.0*(Y*Z + X*W), (-sqx - sqy + sqz + sqw))
};
return ret;
}
private Quaternion(double w, Vector vec) {
W = w;
X = vec.X;
Y = vec.Y;
Z = vec.Z;
}
