/// <summary>
/// Converts the angle vector to euler rotation in radians.
/// </summary>
/// <returns></returns>
public Vector3 ToRadians()
{
return(new Vector3(RotationConverter.AngleToRadians(X),
RotationConverter.AngleToRadians(Y),
RotationConverter.AngleToRadians(Z)));
}
/// <summary>
/// Converts the angle vector into a rotation matrix.
/// </summary>
/// <returns></returns>
public Matrix4x4 ToRotationMatrix()
{
return(Matrix4x4.CreateRotationX(RotationConverter.AngleToRadians(X)) *
Matrix4x4.CreateRotationY(RotationConverter.AngleToRadians(Y)) *
Matrix4x4.CreateRotationZ(RotationConverter.AngleToRadians(Z)));
}
/// <summary>
/// Converts the angle vector into a rotation matrix around an origin.
/// </summary>
/// <param name="origin"></param>
/// <returns></returns>
public Matrix4x4 ToRotationMatrixZXY(Vector3 origin)
{
return(Matrix4x4.CreateRotationZ(RotationConverter.AngleToRadians(X), origin) *
Matrix4x4.CreateRotationX(RotationConverter.AngleToRadians(Y), origin) *
Matrix4x4.CreateRotationY(RotationConverter.AngleToRadians(Z), origin));
}
