public static void CreateFromYawPitchRoll(Fixed64 yaw, Fixed64 pitch, Fixed64 roll, out Fixed64Quaternion result)
{
Fixed64 num9 = roll * Fixed64.Half;
Fixed64 num6 = Fixed64.Sin(num9);
Fixed64 num5 = Fixed64.Cos(num9);
Fixed64 num8 = pitch * Fixed64.Half;
Fixed64 num4 = Fixed64.Sin(num8);
Fixed64 num3 = Fixed64.Cos(num8);
Fixed64 num7 = yaw * Fixed64.Half;
Fixed64 num2 = Fixed64.Sin(num7);
Fixed64 num = Fixed64.Cos(num7);
result.x = ((num * num4) * num5) + ((num2 * num3) * num6);
result.y = ((num2 * num3) * num5) - ((num * num4) * num6);
result.z = ((num * num3) * num6) - ((num2 * num4) * num5);
result.w = ((num * num3) * num5) + ((num2 * num4) * num6);
}
public static Fixed64Quaternion AngleAxis(Fixed64 angle, Fixed64Vector3 axis)
{
axis = axis * Fixed64.Deg2Rad;
axis.Normalize();
Fixed64 halfAngle = angle * Fixed64.Deg2Rad * Fixed64.Half;
Fixed64Quaternion rotation;
Fixed64 sin = Fixed64.Sin(halfAngle);
rotation.x = axis.x * sin;
rotation.y = axis.y * sin;
rotation.z = axis.z * sin;
rotation.w = Fixed64.Cos(halfAngle);
return(rotation);
}