public static Quaternion ToQuaternion(this EulerAngles e) => CreateQuaternionInRadians(UnitY, e.Yaw) * CreateQuaternionInRadians(UnitX, e.Pitch) * CreateQuaternionInRadians(UnitZ, e.Roll);
static void ToEulerAngles_One(EulerAngles expected, Vector3D rotatedUnitZ, Vector3D rotatedUnitY)
{
var actual = Rotation3DHelper.ToEulerAngles(rotatedUnitZ, rotatedUnitY);
AssertEulerAngles(expected, actual);
}
public static Matrix3D ToMatrix3D(this EulerAngles e) => e.ToQuaternion().ToMatrix3D();
static void AssertEulerAngles(EulerAngles expected, EulerAngles actual)
{
Assert.IsTrue(Math.Abs(expected.Yaw - actual.Yaw) < 0.001);
Assert.IsTrue(Math.Abs(expected.Pitch - actual.Pitch) < 0.001);
Assert.IsTrue(Math.Abs(expected.Roll - actual.Roll) < 0.001);
}
