public static float FindQuaternionTwist(this Quaternion quat, Vector3 axis)
{
axis.Normalize();
// Get the plane the axis is a normal of
Vector3 orthoNormal1, orthoNormal2;
WMath.FindOrthoNormals(axis, out orthoNormal1, out orthoNormal2);
Vector3 transformed = Vector3.Transform(orthoNormal1, quat);
// Project transformed vector onto a plane
Vector3 flattened = transformed - (Vector3.Dot(transformed, axis) * axis);
flattened.Normalize();
// Get the angle between the original vector and projected transform to get angle around normal
float a = (float)Math.Acos((double)Vector3.Dot(orthoNormal1, flattened));
return(WMath.RadiansToDegrees(a));
}
