/// <summary>
/// Creates a quaternion from a vector containing roll, pitch, and yaw
/// in radians
/// </summary>
/// <param name="eulers">Vector representation of the euler angles in
/// radians</param>
/// <returns>Quaternion representation of the euler angles</returns>
public static Quaternion CreateFromEulers(Vector3F eulers)
{
return(CreateFromEulers(eulers.X, eulers.Y, eulers.Z));
}
/// <summary>
/// Build a quaternion from an axis and an angle of rotation around
/// that axis
/// </summary>
public static Quaternion CreateFromAxisAngle(float axisX, float axisY, float axisZ, float angle)
{
Vector3F axis = new Vector3F(axisX, axisY, axisZ);
return(CreateFromAxisAngle(axis, angle));
}