From 12ca1b7c1834b33ad888e914e1113663953f062d Mon Sep 17 00:00:00 2001
From: Oliver Booth <me@olivr.me>
Date: Wed, 30 Nov 2022 18:53:44 +0000
Subject: [PATCH] Use explicit precedence

---
 .../src/Extensions/QuaternionExtensions.cs    | 40 +++++++++----------
 1 file changed, 20 insertions(+), 20 deletions(-)

diff --git a/VpSharp/src/Extensions/QuaternionExtensions.cs b/VpSharp/src/Extensions/QuaternionExtensions.cs
index 4245956..3e159f8 100644
--- a/VpSharp/src/Extensions/QuaternionExtensions.cs
+++ b/VpSharp/src/Extensions/QuaternionExtensions.cs
@@ -19,23 +19,23 @@ public static class QuaternionExtensions
     /// <see href="https://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/" />
     public static Vector3d ToEulerAngles(this Quaternion value, bool radians = true)
     {
-        double a = 2.0 * value.Y * value.W - 2.0 * value.X * value.Z;
-        double b = 1.0 - 2.0 * value.Y * value.Y - 2.0 * value.Z * value.Z;
+        double a = (2.0 * value.Y * value.W) - (2.0 * value.X * value.Z);
+        double b = 1.0 - (2.0 * value.Y * value.Y) - (2.0 * value.Z * value.Z);
         double y = -Math.Atan2(a, b);
 
         a = 2.0 * value.X * value.Y;
         b = 2.0 * value.Z * value.W;
         double z = Math.Asin(a + b);
 
-        a = 2.0 * value.X * value.W - 2.0 * value.Y * value.Z;
-        b = 1.0 - 2.0 * value.X * value.X - 2.0 * value.Z * value.Z;
+        a = (2.0 * value.X * value.W) - (2.0 * value.Y * value.Z);
+        b = 1.0 - (2.0 * value.X * value.X) - (2.0 * value.Z * value.Z);
         double x = Math.Atan2(a, b);
 
         if (!radians)
         {
-            x = (180.0 / Math.PI) * x;
-            y = (180.0 / Math.PI) * y;
-            z = (180.0 / Math.PI) * z;
+            x = 180.0 / Math.PI * x;
+            y = 180.0 / Math.PI * y;
+            z = 180.0 / Math.PI * z;
         }
 
         return new Vector3d(x, y, z);
@@ -52,23 +52,23 @@ public static class QuaternionExtensions
     /// <returns>The Euler representation of <paramref name="value" />.</returns>
     public static Vector3d ToEulerAnglesF(this Quaternion value, bool radians = true)
     {
-        float a = 2.0f * value.Y * value.W - 2.0f * value.X * value.Z;
-        float b = 1.0f - 2.0f * value.Y * value.Y - 2.0f * value.Z * value.Z;
+        float a = (2.0f * value.Y * value.W) - (2.0f * value.X * value.Z);
+        float b = 1.0f - (2.0f * value.Y * value.Y) - (2.0f * value.Z * value.Z);
         float y = -MathF.Atan2(a, b);
 
         a = 2.0f * value.X * value.Y;
         b = 2.0f * value.Z * value.W;
         float z = MathF.Asin(a + b);
 
-        a = 2.0f * value.X * value.W - 2.0f * value.Y * value.Z;
-        b = 1.0f - 2.0f * value.X * value.X - 2.0f * value.Z * value.Z;
+        a = (2.0f * value.X * value.W) - (2.0f * value.Y * value.Z);
+        b = 1.0f - (2.0f * value.X * value.X) - (2.0f * value.Z * value.Z);
         float x = MathF.Atan2(a, b);
 
         if (!radians)
         {
-            x = (180.0f / MathF.PI) * x;
-            y = (180.0f / MathF.PI) * y;
-            z = (180.0f / MathF.PI) * z;
+            x = 180.0f / MathF.PI * x;
+            y = 180.0f / MathF.PI * y;
+            z = 180.0f / MathF.PI * z;
         }
 
         return new Vector3d(x, y, z);
@@ -86,9 +86,9 @@ public static class QuaternionExtensions
     {
         angle = 2.0f * MathF.Acos(value.W);
 
-        float x = value.X / MathF.Sqrt(1.0f - value.W * value.W);
-        float y = value.Y / MathF.Sqrt(1.0f - value.W * value.W);
-        float z = value.Z / MathF.Sqrt(1.0f - value.W * value.W);
+        float x = value.X / MathF.Sqrt(1.0f - (value.W * value.W));
+        float y = value.Y / MathF.Sqrt(1.0f - (value.W * value.W));
+        float z = value.Z / MathF.Sqrt(1.0f - (value.W * value.W));
 
         axis = new Vector3(x, y, z);
     }
@@ -103,9 +103,9 @@ public static class QuaternionExtensions
     {
         angle = 2.0 * Math.Acos(value.W);
 
-        double x = value.X / Math.Sqrt(1.0 - value.W * value.W);
-        double y = value.Y / Math.Sqrt(1.0 - value.W * value.W);
-        double z = value.Z / Math.Sqrt(1.0 - value.W * value.W);
+        double x = value.X / Math.Sqrt(1.0 - (value.W * value.W));
+        double y = value.Y / Math.Sqrt(1.0 - (value.W * value.W));
+        double z = value.Z / Math.Sqrt(1.0 - (value.W * value.W));
 
         axis = new Vector3d(x, y, z);
     }