/// <summary>
/// Creates a rotation matrix from the provided euler angle (pitch/yaw/roll) rotation.
/// </summary>
/// <param name="xAngle">Pitch angle of rotation.</param>
/// <param name="yAngle">Yar angle of rotation.</param>
/// <param name="zAngle">Roll angle of rotation.</param>
/// <param name="order">The order in which rotations will be applied. Different rotations can be created depending
/// on the order.</param>
/// <returns>Rotation matrix that can rotate an object to the specified angles.</returns>
public static Matrix3 FromEuler(Radian xAngle, Radian yAngle, Radian zAngle, EulerAngleOrder order)
{
EulerAngleOrderData l = EA_LOOKUP[(int)order];
Matrix3[] mats = new Matrix3[3];
float cx = MathEx.Cos(xAngle);
float sx = MathEx.Sin(xAngle);
mats[0] = new Matrix3(
1.0f, 0.0f, 0.0f,
0.0f, cx, -sx,
0.0f, sx, cx);
float cy = MathEx.Cos(yAngle);
float sy = MathEx.Sin(yAngle);
mats[1] = new Matrix3(
cy, 0.0f, sy,
0.0f, 1.0f, 0.0f,
-sy, 0.0f, cy);
float cz = MathEx.Cos(zAngle);
float sz = MathEx.Sin(zAngle);
mats[2] = new Matrix3(
cz, -sz, 0.0f,
sz, cz, 0.0f,
0.0f, 0.0f, 1.0f);
return(mats[l.a] * (mats[l.b] * mats[l.c]));
}
/// <summary>
/// Creates a quaternion from the provided euler angle (pitch/yaw/roll) rotation.
/// </summary>
/// <param name="xAngle">Pitch angle of rotation.</param>
/// <param name="yAngle">Yar angle of rotation.</param>
/// <param name="zAngle">Roll angle of rotation.</param>
/// <param name="order">The order in which rotations will be applied. Different rotations can be created depending
/// on the order.</param>
/// <returns>Quaternion that can rotate an object to the specified angles.</returns>
public static Quaternion FromEuler(Degree xAngle, Degree yAngle, Degree zAngle,
EulerAngleOrder order = EulerAngleOrder.YXZ)
{
EulerAngleOrderData l = EA_LOOKUP[(int)order];
Radian halfXAngle = xAngle * 0.5f;
Radian halfYAngle = yAngle * 0.5f;
Radian halfZAngle = zAngle * 0.5f;
float cx = MathEx.Cos(halfXAngle);
float sx = MathEx.Sin(halfXAngle);
float cy = MathEx.Cos(halfYAngle);
float sy = MathEx.Sin(halfYAngle);
float cz = MathEx.Cos(halfZAngle);
float sz = MathEx.Sin(halfZAngle);
Quaternion[] quats = new Quaternion[3];
quats[0] = new Quaternion(sx, 0.0f, 0.0f, cx);
quats[1] = new Quaternion(0.0f, sy, 0.0f, cy);
quats[2] = new Quaternion(0.0f, 0.0f, sz, cz);
return((quats[l.a] * quats[l.b]) * quats[l.c]);
}
