public Quaternion(EulerAngle e)
{
double c1 = Math.Cos(e.Yaw * 0.5d);
double c2 = Math.Cos(e.Pitch * 0.5d);
double c3 = Math.Cos(e.Roll * 0.5d);
double s1 = Math.Sin(e.Yaw * 0.5d);
double s2 = Math.Sin(e.Pitch * 0.5d);
double s3 = Math.Sin(e.Roll * 0.5d);
W = c1 * c2 * c3 - s1 * s2 * s3;
X = s1 * s2 * c3 + c1 * c2 * s3;
Y = s1 * c2 * c3 + c1 * s2 * s3;
Z = c1 * s2 * c3 - s1 * c2 * s3;
}
public Matrix(EulerAngle euler) : this(new Quaternion(euler))
{
}