public static LVector3 ToEulerAngles(LQuaternion rotation)
{
rotation.Normalize();
return(new LVector3(
LMath.Atan2(2 * (rotation.w * rotation.z + rotation.x * rotation.y), 1 - 2 * (rotation.z * rotation.z + rotation.x * rotation.x)),
LMath.Asin(2 * (rotation.w * rotation.x - rotation.y * rotation.z)),
LMath.Atan2(2 * (rotation.w * rotation.y + rotation.z * rotation.x), 1 - 2 * (rotation.x * rotation.x + rotation.y * rotation.y))
));
}
private LVector3 MatrixToEuler(LMatrix33 m)
{
LVector3 v = new LVector3();
if (m[1, 2] < 1)
{
if (m[1, 2] > -1)
{
v.x = LMath.Asin(-m[1, 2]);
v.y = LMath.Atan2(m[0, 2], m[2, 2]);
v.z = LMath.Atan2(m[1, 0], m[1, 1]);
}
else
{
v.x = LMath.PI * LFloat.half;
v.y = LMath.Atan2(m[0, 1], m[0, 0]);
v.z = (LFloat)0;
}
}
else
{
v.x = -LMath.PI * LFloat.half;
v.y = LMath.Atan2(-m[0, 1], m[0, 0]);
v.z = (LFloat)0;
}
for (int i = 0; i < 3; i++)
{
if (v[i] < 0)
{
v[i] += LMath.PI2;
}
else if (v[i] > LMath.PI2)
{
v[i] -= LMath.PI2;
}
}
return(v);
}