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Use explicit precedence

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Oliver Booth 2022-11-30 18:53:44 +00:00
parent 4f123d384e
commit 12ca1b7c18
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1 changed files with 20 additions and 20 deletions
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VpSharp/src/Extensions/QuaternionExtensions.cs
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@ -19,23 +19,23 @@ public static class QuaternionExtensions
/// <see href="https://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/" /> /// <see href="https://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/" />
public static Vector3d ToEulerAngles(this Quaternion value, bool radians = true) 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 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 b = 1.0 - (2.0 * value.Y * value.Y) - (2.0 * value.Z * value.Z);
double y = -Math.Atan2(a, b); double y = -Math.Atan2(a, b);
a = 2.0 * value.X * value.Y; a = 2.0 * value.X * value.Y;
b = 2.0 * value.Z * value.W; b = 2.0 * value.Z * value.W;
double z = Math.Asin(a + b); double z = Math.Asin(a + b);
a = 2.0 * value.X * value.W - 2.0 * value.Y * 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; b = 1.0 - (2.0 * value.X * value.X) - (2.0 * value.Z * value.Z);
double x = Math.Atan2(a, b); double x = Math.Atan2(a, b);
if (!radians) if (!radians)
{ {
x = (180.0 / Math.PI) * x; x = 180.0 / Math.PI * x;
y = (180.0 / Math.PI) * y; y = 180.0 / Math.PI * y;
z = (180.0 / Math.PI) * z; z = 180.0 / Math.PI * z;
} }
return new Vector3d(x, y, z); return new Vector3d(x, y, z);
@ -52,23 +52,23 @@ public static class QuaternionExtensions
/// <returns>The Euler representation of <paramref name="value" />.</returns> /// <returns>The Euler representation of <paramref name="value" />.</returns>
public static Vector3d ToEulerAnglesF(this Quaternion value, bool radians = true) 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 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 b = 1.0f - (2.0f * value.Y * value.Y) - (2.0f * value.Z * value.Z);
float y = -MathF.Atan2(a, b); float y = -MathF.Atan2(a, b);
a = 2.0f * value.X * value.Y; a = 2.0f * value.X * value.Y;
b = 2.0f * value.Z * value.W; b = 2.0f * value.Z * value.W;
float z = MathF.Asin(a + b); float z = MathF.Asin(a + b);
a = 2.0f * value.X * value.W - 2.0f * value.Y * 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; b = 1.0f - (2.0f * value.X * value.X) - (2.0f * value.Z * value.Z);
float x = MathF.Atan2(a, b); float x = MathF.Atan2(a, b);
if (!radians) if (!radians)
{ {
x = (180.0f / MathF.PI) * x; x = 180.0f / MathF.PI * x;
y = (180.0f / MathF.PI) * y; y = 180.0f / MathF.PI * y;
z = (180.0f / MathF.PI) * z; z = 180.0f / MathF.PI * z;
} }
return new Vector3d(x, y, z); return new Vector3d(x, y, z);
@ -86,9 +86,9 @@ public static class QuaternionExtensions
{ {
angle = 2.0f * MathF.Acos(value.W); angle = 2.0f * MathF.Acos(value.W);
float x = value.X / 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 y = value.Y / MathF.Sqrt(1.0f - (value.W * value.W));
float z = value.Z / 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); axis = new Vector3(x, y, z);
} }
@ -103,9 +103,9 @@ public static class QuaternionExtensions
{ {
angle = 2.0 * Math.Acos(value.W); angle = 2.0 * Math.Acos(value.W);
double x = value.X / 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 y = value.Y / Math.Sqrt(1.0 - (value.W * value.W));
double z = value.Z / 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); axis = new Vector3d(x, y, z);
} }