public Vec3f ToEuler()
{
float phi = FMath.Atan2(2.0f * (x * y + z * w), 1.0f - 2.0f * (y * y + z * z));
float theta = FMath.Asin(2.0f * (x * z - w * y));
float psi = FMath.Atan2(2.0f * (x * w + y * z), 1.0f - 2.0f * (z * z + w * w));
return(new Vec3f(phi, theta, psi));
}
public void TestAsin()
{
var a = Fixed.FromFloat(0.54646f);
var r = Fixed.FromFloat(0.578131f);
AssertApproximately(r, FMath.Asin(a));
a = Fixed.FromFloat(-0.154787f);
r = Fixed.FromFloat(-0.155411851f);
AssertApproximately(r, FMath.Asin(a));
}