/// <summary>
/// Create a Quaternion from Euler Angles. These should be in degrees in [-180, 180] space.
/// </summary>
public static Quaternion FromEulerAngles(this Quaternion quat, Vector3 eulerAngles)
{
eulerAngles.X = WMath.DegreesToRadians(eulerAngles.X);
eulerAngles.Y = WMath.DegreesToRadians(eulerAngles.Y);
eulerAngles.Z = WMath.DegreesToRadians(eulerAngles.Z);
double c1 = Math.Cos(eulerAngles.Y / 2f);
double s1 = Math.Sin(eulerAngles.Y / 2f);
double c2 = Math.Cos(eulerAngles.X / 2f);
double s2 = Math.Sin(eulerAngles.X / 2f);
double c3 = Math.Cos(eulerAngles.Z / 2f);
double s3 = Math.Sin(eulerAngles.Z / 2f);
double c1c2 = c1 * c2;
double s1s2 = s1 * s2;
float w = (float)(c1c2 * c3 - s1s2 * s3);
float x = (float)(c1c2 * s3 + s1s2 * c3);
float y = (float)(s1 * c2 * c3 + c1 * s2 * s3);
float z = (float)(c1 * s2 * c3 - s1 * c2 * s3);
return(new Quaternion(x, y, z, w));
}
/// <summary>
/// Convert a Quaternion to Euler Angles. Returns the angles in [-180, 180] space in degrees.
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="quat"></param>
/// <returns></returns>
public static Vector3 ToEulerAngles(this Quaternion quat)
{
return(new Vector3(WMath.RadiansToDegrees(PitchFromQuat(quat)), WMath.RadiansToDegrees(YawFromQuat(quat)), WMath.RadiansToDegrees(RollFromQuat(quat))));
}
