public static LFloat Angle(LQuaternion a, LQuaternion b)
{
LQuaternion q = b * LQuaternion.Inverse(a);
q.Normalize();
return(LMath.Acos(q.w));
}
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))
));
}