/// <summary>
/// 欧拉角(单位四元数有效)
/// </summary>
/// <returns></returns>
public Vector3 ToEulers()
{
Vector3 euler = Vector3.zero;
Matrix m = ToMatrix();
if (MathS.Abs(m[1, 0]) <= Threshold &&
MathS.Abs(m[1, 1]) <= Threshold)
{
euler.x = m[1, 2] <= 0 ? 90 : -90;
euler.y = 0;
euler.z = MathS.Atan2(-m[0, 1], m[0, 0]) * MathS.RadToDeg;
}
else
{
euler.x = MathS.Asin(-m[1, 2]);
euler.y = MathS.Atan2(m[0, 2], m[2, 2]);
euler.z = MathS.Atan2(m[1, 0], m[1, 1]);
euler *= MathS.RadToDeg;
}
return(euler);
}
