public float getYaw()
        {
            Vector3 localLook = Look;

            localLook.Y = basis.Y;
            localLook.Normalize();
            SteeringBehaviours.checkNaN(ref localLook, Vector3.Forward);
            float angle = (float)Math.Acos(Vector3.Dot(basis, localLook));

            if (Look.X > 0)
            {
                angle = (MathHelper.Pi * 2.0f) - angle;
            }
            return(angle);
        }