// Originally: void QuaternionAngles( const Quaternion &q, RadianEuler &angles )
// "Purpose: Converts a quaternion into engine angles
// Input : *quaternion - q3 + q0.i + q1.j + q2.k
// *outAngles - PITCH, YAW, ROLL"
public Vector3 ToRadianAngles()
{
// FIXME: doing it this way calculates too much data, needs to do an optimized version...
// I wonder if they ever came up with an optimized version
VMatrix m = this.ToMatrix();
return(m.ToRadianAngles());
}
// Originally: void QuaternionMatrix( const Quaternion &q, matrix3x4_t& matrix )
public VMatrix ToMatrix()
{
VMatrix m = VMatrix.Zero;
m.M00 = 1.0f - 2.0f * Y * Y - 2.0f * Z * Z;
m.M10 = 2.0f * X * Y + 2.0f * W * Z;
m.M20 = 2.0f * X * Z - 2.0f * W * Y;
m.M01 = 2.0f * X * Y - 2.0f * W * Z;
m.M11 = 1.0f - 2.0f * X * X - 2.0f * Z * Z;
m.M21 = 2.0f * Y * Z + 2.0f * W * X;
m.M02 = 2.0f * X * Z + 2.0f * W * Y;
m.M12 = 2.0f * Y * Z - 2.0f * W * X;
m.M22 = 1.0f - 2.0f * X * X - 2.0f * Y * Y;
m.M03 = 0.0f;
m.M13 = 0.0f;
m.M23 = 0.0f;
return(m);
}