public Rotator ToRotator()
{
// http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
Rotator result = new Rotator();
// Roll (rotation around x-axis)
float sinr = 2.0f * (W * X + Y * Z);
float cosr = 1.0f - 2.0f * (X * X + Y * Y);
result.Z = RyneMath.Atan2(sinr, cosr);
// Pitch (rotation around y-axis)
float sinp = 2.0f * (W * Y - Z * X);
if (RyneMath.Abs(sinp) >= 1)
{
result.Y = Constants.PI / 2.0f * RyneMath.Sign(sinp); // use 90 degrees if out of range
}
else
{
result.Y = RyneMath.Asin(sinp);
}
// Yaw (rotation around z-axis)
float siny = 2.0f * (W * Z + X * Y);
float cosy = 1.0f - 2.0f * (Y * Y + Z * Z);
result.X = RyneMath.Atan2(siny, cosy);
result.X = RyneMath.RadiansToDegrees(result.X);
result.Y = RyneMath.RadiansToDegrees(result.Y);
result.Z = RyneMath.RadiansToDegrees(result.Z);
return(result);
}
public float RotationAngle(bool degrees = true)
{
return(RyneMath.RadiansToDegrees(2.0f * RyneMath.Acos(W)));
}
