private void ComputeCameraRotation()
{
Vector3D lookVector = NormalizedLookVector;
yawPitchRoll.Y = MathExtensions.Asin(-lookVector.Z);
yawPitchRoll.X = -MathExtensions.Atan2(-lookVector.X, -lookVector.Y);
}
public EulerAngles ToEuler()
{
float ww = W * W;
float xx = X * X;
float yy = Y * Y;
float zz = Z * Z;
float lengthSqd = xx + yy + zz + ww;
float singularityTest = Y * W - X * Z;
float singularityValue = Singularity * lengthSqd;
return(singularityTest > singularityValue
? new EulerAngles(-2 * MathExtensions.Atan2(Z, W), 90.0f, 0.0f)
: singularityTest < -singularityValue
? new EulerAngles(2 * MathExtensions.Atan2(Z, W), -90.0f, 0.0f)
: new EulerAngles(MathExtensions.Atan2(2.0f * (Y * Z + X * W), 1.0f - 2.0f * (xx + yy)),
MathExtensions.Asin(2.0f * singularityTest / lengthSqd),
MathExtensions.Atan2(2.0f * (X * Y + Z * W), 1.0f - 2.0f * (yy + zz))));
}
public void Asin()
{
Assert.AreEqual(0.0f, MathExtensions.Asin(0));
Assert.AreEqual(90.0f, MathExtensions.Asin(1));
Assert.AreEqual(-90.0f, MathExtensions.Asin(-1));
}