/// <summary>
/// Converts XYZ Tait-Bryan angles to a <see cref="Quaternion"/>.
/// </summary>
/// <param name="xyzAngles">The XYZ angles in degrees</param>
/// <returns>The created <see cref="Quaternion"/></returns>
public static Quaternion XYZtoQuaternion(Vector3 xyzAngles)
{
RotationMatrix rotmat = new RotationMatrix(xyzAngles.x, xyzAngles.y, xyzAngles.z);
IRescue.Core.DataTypes.Vector3 forward = new IRescue.Core.DataTypes.Vector3(0, 0, 1);
IRescue.Core.DataTypes.Vector3 upward = new IRescue.Core.DataTypes.Vector3(0, 1, 0);
rotmat.Multiply(forward, forward);
rotmat.Multiply(upward, upward);
return(Quaternion.LookRotation(IRescueVec3ToUnityVec3(forward), IRescueVec3ToUnityVec3(upward)));
}
/// <summary>
/// Converts a <see cref="IRescue.Core.DataTypes.Vector3"/> to a <see cref="UnityEngine.Vector3"/>.
/// </summary>
/// <param name="irescuevector">The <see cref="IRescue.Core.DataTypes.Vector3"/> to convert.</param>
/// <returns>The <see cref="UnityEngine.Vector3"/>.</returns>
private static Vector3 IRescueVec3ToUnityVec3(IRescue.Core.DataTypes.Vector3 irescuevector)
{
return(new Vector3(irescuevector.X, irescuevector.Y, irescuevector.Z));
}
