/// <summary>
/// Converts an orthonormal matrix to euler angle (pitch/yaw/roll) representation.
/// </summary>
/// <returns>Euler angles in degrees representing the rotation in this matrix.</returns>
public Vector3 ToEulerAngles()
{
Radian xAngle = -MathEx.Asin(this[1, 2]);
if (xAngle < MathEx.HalfPi)
{
if (xAngle > -MathEx.HalfPi)
{
Radian yAngle = MathEx.Atan2(this[0, 2], this[2, 2]);
Radian zAngle = MathEx.Atan2(this[1, 0], this[1, 1]);
return(new Vector3(xAngle.Degrees, yAngle.Degrees, zAngle.Degrees));
}
else
{
// Note: Not an unique solution.
xAngle = -MathEx.HalfPi;
Radian yAngle = MathEx.Atan2(-this[0, 1], this[0, 0]);
Radian zAngle = (Radian)0.0f;
return(new Vector3(xAngle.Degrees, yAngle.Degrees, zAngle.Degrees));
}
}
else
{
// Note: Not an unique solution.
xAngle = MathEx.HalfPi;
Radian yAngle = MathEx.Atan2(this[0, 1], this[0, 0]);
Radian zAngle = (Radian)0.0f;
return(new Vector3(xAngle.Degrees, yAngle.Degrees, zAngle.Degrees));
}
}
