private LVector3 MatrixToEuler(LMatrix33 m)
{
LVector3 v = new LVector3();
if (m[1, 2] < 1)
{
if (m[1, 2] > -1)
{
v.x = LMath.Asin(-m[1, 2]);
v.y = LMath.Atan2(m[0, 2], m[2, 2]);
v.z = LMath.Atan2(m[1, 0], m[1, 1]);
}
else
{
v.x = LMath.PI * LFloat.half;
v.y = LMath.Atan2(m[0, 1], m[0, 0]);
v.z = (LFloat)0;
}
}
else
{
v.x = -LMath.PI * LFloat.half;
v.y = LMath.Atan2(-m[0, 1], m[0, 0]);
v.z = (LFloat)0;
}
for (int i = 0; i < 3; i++)
{
if (v[i] < 0)
{
v[i] += LMath.PI2;
}
else if (v[i] > LMath.PI2)
{
v[i] -= LMath.PI2;
}
}
return(v);
}