public EulerAngles ToEulerAngles()
{
EulerAngles returnValue = new EulerAngles();
Single calculatedXPitch = (Single)Math.Asin(this[1][2]);
Single calculatedYYaw = 0F;
Single calculatedZRoll = 0F;
if (Math.Cos(calculatedXPitch) > 0.001) {
calculatedYYaw = (Single)(-Math.Atan2(this[0][2], this[2][2]));
calculatedZRoll = (Single)Math.Atan2(this[1][0], this[1][1]);
} else {
calculatedYYaw = 0F;
calculatedZRoll = (Single)Math.Atan2(-this[0][1], this[0][0]);
}
returnValue.xPitch = (Int32)Math.Round(Geometry.RadianToDegree(calculatedXPitch), 0);
returnValue.yYaw = (Int32)Math.Round(Geometry.RadianToDegree(calculatedYYaw), 0);
returnValue.zRoll = (Int32)Math.Round(Geometry.RadianToDegree(calculatedZRoll), 0);
return returnValue;
}
private void UpdateIlfAngles(RotationMatrix rotationMatrix)
{
EulerAngles eulerAngles = new EulerAngles(rotationMatrix);
this.textBoxIlfPitch.Text = ((eulerAngles.xPitch > 0) ? "+" : String.Empty) + eulerAngles.xPitch + "°";
this.textBoxIlfRoll.Text = ((eulerAngles.zRoll > 0) ? "+" : String.Empty) + eulerAngles.zRoll + "°";
this.textBoxIlfYaw.Text = ((eulerAngles.yYaw > 0) ? "+" : String.Empty) + eulerAngles.yYaw + "°";
}
public RotationMatrix(EulerAngles eulerAngles)
{
RotationMatrix rotationMatrix = eulerAngles.ToMatrix();
for (Int32 row = 0; row < 3; row++) {
for (Int32 column = 0; column < 3; column++) {
this[row][column] = rotationMatrix[row][column];
}
}
}