public static void CreateFromYawPitchRoll(FP yaw, FP pitch, FP roll, out TSQuaternion result)
{
FP num9 = roll * FP.Half;
FP num6 = FP.Sin(num9);
FP num5 = FP.Cos(num9);
FP num8 = pitch * FP.Half;
FP num4 = FP.Sin(num8);
FP num3 = FP.Cos(num8);
FP num7 = yaw * FP.Half;
FP num2 = FP.Sin(num7);
FP num = FP.Cos(num7);
result.x = ((num * num4) * num5) + ((num2 * num3) * num6);
result.y = ((num2 * num3) * num5) - ((num * num4) * num6);
result.z = ((num * num3) * num6) - ((num2 * num4) * num5);
result.w = ((num * num3) * num5) + ((num2 * num4) * num6);
}
public static TSQuaternion AngleAxis(FP angle, TSVector axis)
{
axis = axis * FP.Deg2Rad;
axis.Normalize();
FP halfAngle = angle * FP.Deg2Rad * FP.Half;
TSQuaternion rotation;
FP sin = FP.Sin(halfAngle);
rotation.x = axis.x * sin;
rotation.y = axis.y * sin;
rotation.z = axis.z * sin;
rotation.w = FP.Cos(halfAngle);
return(rotation);
}