/// <summary>
/// Creates a list of ColladaRotate elements describing a rotation defined a RealEulerAngles3D field
/// </summary>
/// <param name="rotation">A RealEulerAngles3D field</param>
/// <returns></returns>
public static List <ColladaElement> CreateRotationSet(LowLevel.Math.real_euler_angles3d rotation, LowLevel.Math.real_vector3d vector_y,
LowLevel.Math.real_vector3d vector_p, LowLevel.Math.real_vector3d vector_r)
{
return(CreateRotationSet(rotation.Yaw, rotation.Pitch, rotation.Roll, vector_y, vector_p, vector_r));
}
/// <summary>
/// Converts a quaternion into an euler rotation
/// </summary>
/// <returns>Returns an euler rotation</returns>
public static LowLevel.Math.real_euler_angles3d ToEuler3D(float i, float j, float k, float w)
{
var euler_3d = new LowLevel.Math.real_euler_angles3d();
if ((i * j) + (k * w) == 0.5f)
{
euler_3d.Yaw = (float)(2 * Math.Atan2(i, w));
euler_3d.Roll = 0;
}
else if ((i * j) + (k * w) == -0.5f)
{
euler_3d.Yaw = (float)(-2 * Math.Atan2(i, w));
euler_3d.Roll = 0;
}
else
{
euler_3d.Yaw = (float)Math.Atan2(
2 * j * w - 2 * i * k,
1 - 2 * (j * j) - 2 * (k * k));
euler_3d.Roll = (float)Math.Atan2(
2 * i * w - 2 * j * k,
1 - 2 * (i * i) - 2 * (k * k));
}
euler_3d.Pitch = (float)Math.Asin(2 * i * j + 2 * k * w);
euler_3d.Yaw = Real.RadiansToDegrees(euler_3d.Yaw);
euler_3d.Pitch = Real.RadiansToDegrees(euler_3d.Pitch);
euler_3d.Roll = Real.RadiansToDegrees(euler_3d.Roll);
return euler_3d;
}
