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https://github.com/oliverbooth/VpSharp
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Use explicit precedence
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4f123d384e
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@ -19,23 +19,23 @@ public static class QuaternionExtensions
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/// <see href="https://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/" />
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/// <see href="https://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/" />
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public static Vector3d ToEulerAngles(this Quaternion value, bool radians = true)
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public static Vector3d ToEulerAngles(this Quaternion value, bool radians = true)
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{
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{
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double a = 2.0 * value.Y * value.W - 2.0 * value.X * value.Z;
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double a = (2.0 * value.Y * value.W) - (2.0 * value.X * value.Z);
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double b = 1.0 - 2.0 * value.Y * value.Y - 2.0 * value.Z * value.Z;
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double b = 1.0 - (2.0 * value.Y * value.Y) - (2.0 * value.Z * value.Z);
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double y = -Math.Atan2(a, b);
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double y = -Math.Atan2(a, b);
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a = 2.0 * value.X * value.Y;
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a = 2.0 * value.X * value.Y;
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b = 2.0 * value.Z * value.W;
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b = 2.0 * value.Z * value.W;
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double z = Math.Asin(a + b);
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double z = Math.Asin(a + b);
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a = 2.0 * value.X * value.W - 2.0 * value.Y * value.Z;
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a = (2.0 * value.X * value.W) - (2.0 * value.Y * value.Z);
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b = 1.0 - 2.0 * value.X * value.X - 2.0 * value.Z * value.Z;
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b = 1.0 - (2.0 * value.X * value.X) - (2.0 * value.Z * value.Z);
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double x = Math.Atan2(a, b);
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double x = Math.Atan2(a, b);
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if (!radians)
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if (!radians)
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{
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{
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x = (180.0 / Math.PI) * x;
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x = 180.0 / Math.PI * x;
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y = (180.0 / Math.PI) * y;
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y = 180.0 / Math.PI * y;
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z = (180.0 / Math.PI) * z;
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z = 180.0 / Math.PI * z;
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}
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}
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return new Vector3d(x, y, z);
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return new Vector3d(x, y, z);
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@ -52,23 +52,23 @@ public static class QuaternionExtensions
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/// <returns>The Euler representation of <paramref name="value" />.</returns>
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/// <returns>The Euler representation of <paramref name="value" />.</returns>
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public static Vector3d ToEulerAnglesF(this Quaternion value, bool radians = true)
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public static Vector3d ToEulerAnglesF(this Quaternion value, bool radians = true)
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{
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{
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float a = 2.0f * value.Y * value.W - 2.0f * value.X * value.Z;
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float a = (2.0f * value.Y * value.W) - (2.0f * value.X * value.Z);
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float b = 1.0f - 2.0f * value.Y * value.Y - 2.0f * value.Z * value.Z;
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float b = 1.0f - (2.0f * value.Y * value.Y) - (2.0f * value.Z * value.Z);
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float y = -MathF.Atan2(a, b);
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float y = -MathF.Atan2(a, b);
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a = 2.0f * value.X * value.Y;
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a = 2.0f * value.X * value.Y;
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b = 2.0f * value.Z * value.W;
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b = 2.0f * value.Z * value.W;
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float z = MathF.Asin(a + b);
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float z = MathF.Asin(a + b);
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a = 2.0f * value.X * value.W - 2.0f * value.Y * value.Z;
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a = (2.0f * value.X * value.W) - (2.0f * value.Y * value.Z);
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b = 1.0f - 2.0f * value.X * value.X - 2.0f * value.Z * value.Z;
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b = 1.0f - (2.0f * value.X * value.X) - (2.0f * value.Z * value.Z);
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float x = MathF.Atan2(a, b);
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float x = MathF.Atan2(a, b);
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if (!radians)
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if (!radians)
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{
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{
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x = (180.0f / MathF.PI) * x;
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x = 180.0f / MathF.PI * x;
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y = (180.0f / MathF.PI) * y;
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y = 180.0f / MathF.PI * y;
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z = (180.0f / MathF.PI) * z;
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z = 180.0f / MathF.PI * z;
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}
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}
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return new Vector3d(x, y, z);
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return new Vector3d(x, y, z);
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@ -86,9 +86,9 @@ public static class QuaternionExtensions
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{
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{
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angle = 2.0f * MathF.Acos(value.W);
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angle = 2.0f * MathF.Acos(value.W);
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float x = value.X / MathF.Sqrt(1.0f - value.W * value.W);
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float x = value.X / MathF.Sqrt(1.0f - (value.W * value.W));
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float y = value.Y / MathF.Sqrt(1.0f - value.W * value.W);
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float y = value.Y / MathF.Sqrt(1.0f - (value.W * value.W));
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float z = value.Z / MathF.Sqrt(1.0f - value.W * value.W);
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float z = value.Z / MathF.Sqrt(1.0f - (value.W * value.W));
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axis = new Vector3(x, y, z);
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axis = new Vector3(x, y, z);
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}
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}
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@ -103,9 +103,9 @@ public static class QuaternionExtensions
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{
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{
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angle = 2.0 * Math.Acos(value.W);
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angle = 2.0 * Math.Acos(value.W);
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double x = value.X / Math.Sqrt(1.0 - value.W * value.W);
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double x = value.X / Math.Sqrt(1.0 - (value.W * value.W));
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double y = value.Y / Math.Sqrt(1.0 - value.W * value.W);
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double y = value.Y / Math.Sqrt(1.0 - (value.W * value.W));
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double z = value.Z / Math.Sqrt(1.0 - value.W * value.W);
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double z = value.Z / Math.Sqrt(1.0 - (value.W * value.W));
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axis = new Vector3d(x, y, z);
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axis = new Vector3d(x, y, z);
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}
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}
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