Replace usages of Quaternion with custom Rotation struct

VpSharp/src/Entities/VirtualParadiseAvatar.cs

@@ -1,6 +1,5 @@
 using System.Drawing;
 using System.Numerics;
-using VpSharp.Extensions;
 using VpSharp.Internal;
 using VpSharp.Internal.NativeAttributes;
 using X10D.Numerics;
@@ -314,7 +313,7 @@ public sealed class VirtualParadiseAvatar : IEquatable<VirtualParadiseAvatar>
     public Task TeleportAsync(VirtualParadiseWorld world, Vector3d position)
     {
         ArgumentNullException.ThrowIfNull(world);
-        return TeleportAsync(world.Name, position, Quaternion.Identity);
+        return TeleportAsync(world.Name, position, Rotation.None);
     }
 
     /// <summary>
@@ -324,7 +323,7 @@ public sealed class VirtualParadiseAvatar : IEquatable<VirtualParadiseAvatar>
     /// <param name="position">The position to which this avatar should be teleported.</param>
     /// <param name="rotation">The rotation to which this avatar should be teleported.</param>
     /// <exception cref="ArgumentNullException"><paramref name="world" /> is <see langword="null" />.</exception>
-    public Task TeleportAsync(VirtualParadiseWorld world, Vector3d position, Quaternion rotation)
+    public Task TeleportAsync(VirtualParadiseWorld world, Vector3d position, Rotation rotation)
     {
         ArgumentNullException.ThrowIfNull(world);
         return TeleportAsync(world.Name, position, rotation);
@@ -337,7 +336,7 @@ public sealed class VirtualParadiseAvatar : IEquatable<VirtualParadiseAvatar>
     /// <param name="position">The position to which this avatar should be teleported.</param>
     public Task TeleportAsync(string world, Vector3d position)
     {
-        return TeleportAsync(world, position, Quaternion.Identity);
+        return TeleportAsync(world, position, Rotation.None);
     }
 
     /// <summary>
@@ -346,7 +345,7 @@ public sealed class VirtualParadiseAvatar : IEquatable<VirtualParadiseAvatar>
     /// <param name="world">The name of the world to which this avatar should be teleported.</param>
     /// <param name="position">The position to which this avatar should be teleported.</param>
     /// <param name="rotation">The rotation to which this avatar should be teleported.</param>
-    public async Task TeleportAsync(string world, Vector3d position, Quaternion rotation)
+    public async Task TeleportAsync(string world, Vector3d position, Rotation rotation)
     {
         ArgumentNullException.ThrowIfNull(world);
 #if NET7_0_OR_GREATER
@@ -385,7 +384,7 @@ public sealed class VirtualParadiseAvatar : IEquatable<VirtualParadiseAvatar>
             lock (_client.Lock)
             {
                 (double x, double y, double z) = position;
-                (double pitch, double yaw, double _) = rotation.ToEulerAngles();
+                (double pitch, double yaw, double _) = rotation;
 
                 _ = vp_double_set(handle, FloatAttribute.MyX, x);
                 _ = vp_double_set(handle, FloatAttribute.MyY, y);
@@ -405,9 +404,9 @@ public sealed class VirtualParadiseAvatar : IEquatable<VirtualParadiseAvatar>
             lock (_client.Lock)
             {
                 (float x, float y, float z) = (Vector3)position;
-                (float pitch, float yaw, float _) = (Vector3)rotation.ToEulerAngles();
+                (double pitch, double yaw, double _) = rotation;
 
-                var reason = (ReasonCode)vp_teleport_avatar(handle, Session, world, x, y, z, yaw, pitch);
+                var reason = (ReasonCode)vp_teleport_avatar(handle, Session, world, x, y, z, (float)yaw, (float)pitch);
                 if (reason == ReasonCode.NotInWorld)
                 {
                     ThrowHelper.ThrowNotInWorldException();
@@ -433,7 +432,7 @@ public sealed class VirtualParadiseAvatar : IEquatable<VirtualParadiseAvatar>
     /// </summary>
     /// <param name="position">The position to which this avatar should be teleported.</param>
     /// <param name="rotation">The rotation to which this avatar should be teleported</param>
-    public Task TeleportAsync(Vector3d position, Quaternion rotation)
+    public Task TeleportAsync(Vector3d position, Rotation rotation)
     {
         return TeleportAsync(Location with {Position = position, Rotation = rotation});
     }

VpSharp/src/Entities/VirtualParadiseObject.cs

@@ -241,7 +241,7 @@ public abstract class VirtualParadiseObject : IEquatable<VirtualParadiseObject>
 
         Location location = Location;
         Vector3d position = location.Position;
-        Quaternion rotation = location.Rotation;
+        Rotation rotation = location.Rotation;
 
         if (builder.Position.HasValue)
         {

VpSharp/src/Entities/VirtualParadiseObjectBuilder.cs

@@ -1,7 +1,4 @@
-using System.Numerics;
+using VpSharp.Internal;
-using VpSharp.Extensions;
-using VpSharp.Internal;
-using X10D.Math;
 using static VpSharp.Internal.NativeAttributes.DataAttribute;
 using static VpSharp.Internal.NativeAttributes.FloatAttribute;
 using static VpSharp.Internal.NativeAttributes.IntegerAttribute;
@@ -57,7 +54,7 @@ public abstract class VirtualParadiseObjectBuilder
     ///     Gets or sets the rotation of the object.
     /// </summary>
     /// <value>The rotation of the object, or <see langword="default" /> to leave unchanged.</value>
-    public Optional<Quaternion> Rotation { get; set; }
+    public Optional<Rotation> Rotation { get; set; }
 
     internal Optional<IReadOnlyList<byte>> Data { get; set; }
 
@@ -157,27 +154,12 @@ public abstract class VirtualParadiseObjectBuilder
 
         if (!Rotation.HasValue && Mode == ObjectBuilderMode.Create)
         {
-            Rotation = Quaternion.Identity;
+            Rotation = VpSharp.Rotation.None;
         }
 
         if (Rotation.HasValue)
         {
-            (double x, double y, double z) = Vector3d.Zero;
+            (double x, double y, double z, double angle) = Rotation.Value;
-            double angle = double.PositiveInfinity;
-            if (Rotation.Value != Quaternion.Identity)
-            {
-                Rotation.Value.ToAxisAngle(out Vector3d axis, out angle);
-                (x, y, z) = axis;
-                angle = angle.RadiansToDegrees();
-            }
-
-            if (double.IsPositiveInfinity(angle))
-            {
-                x = x.RadiansToDegrees();
-                y = y.RadiansToDegrees();
-                z = z.RadiansToDegrees();
-            }
-
             _ = vp_double_set(handle, ObjectRotationX, x);
             _ = vp_double_set(handle, ObjectRotationY, y);
             _ = vp_double_set(handle, ObjectRotationZ, z);
@@ -185,16 +167,10 @@ public abstract class VirtualParadiseObjectBuilder
         }
         else
         {
-            TargetObject.Location.Rotation.ToAxisAngle(out Vector3d axis, out double angle);
+            (double x, double y, double z, double angle) = TargetObject.Location.Rotation;
-            if (Vector3d.IsNan(axis))
+            _ = vp_double_set(handle, ObjectRotationX, x);
-            {
+            _ = vp_double_set(handle, ObjectRotationY, y);
-                axis = Vector3d.Zero;
+            _ = vp_double_set(handle, ObjectRotationZ, z);
-                angle = double.PositiveInfinity;
-            }
-
-            _ = vp_double_set(handle, ObjectRotationX, axis.X);
-            _ = vp_double_set(handle, ObjectRotationY, axis.Y);
-            _ = vp_double_set(handle, ObjectRotationZ, axis.Z);
             _ = vp_double_set(handle, ObjectRotationAngle, angle);
         }
     }

VpSharp/src/Entities/VirtualParadiseUser.cs

@@ -1,6 +1,4 @@
-using System.Numerics;
 using VpSharp.Exceptions;
-using VpSharp.Extensions;
 using VpSharp.Internal;
 using VpSharp.Internal.NativeAttributes;
 using static VpSharp.Internal.NativeMethods;
@@ -144,7 +142,7 @@ public sealed class VirtualParadiseUser : IEquatable<VirtualParadiseUser>
 
             string world = location.Value.World.Name;
             (double x, double y, double z) = location.Value.Position;
-            (double pitch, double yaw, _) = location.Value.Rotation.ToEulerAngles();
+            (double pitch, double yaw, _) = location.Value.Rotation;
 
             _ = vp_int_set(_client.NativeInstanceHandle, IntegerAttribute.ReferenceNumber, reference);
             _ = vp_invite(_client.NativeInstanceHandle, Id, world, x, y, z, (float)yaw, (float)pitch);
@@ -215,7 +213,7 @@ public sealed class VirtualParadiseUser : IEquatable<VirtualParadiseUser>
             }
 
             var position = new Vector3d(x, y, z);
-            var rotation = Quaternion.CreateFromYawPitchRoll(yaw, pitch, 0);
+            var rotation = Rotation.CreateFromTiltYawRoll(pitch, yaw, 0);
             VirtualParadiseWorld world = (await _client.GetWorldAsync(worldName).ConfigureAwait(false))!;
 
             location = new Location(world, position, rotation);

VpSharp/src/Extensions/QuaternionExtensions.cs

@@ -1,38 +0,0 @@
-using System.Numerics;
-
-namespace VpSharp.Extensions;
-
-/// <summary>
-///     Extension methods for <see cref="Quaternion" />.
-/// </summary>
-public static class QuaternionExtensions
-{
-    /// <summary>
-    ///     Converts this quaternion to a <see cref="Vector3d" /> containing an Euler representation of the rotation. 
-    /// </summary>
-    /// <param name="value">The quaternion to convert.</param>
-    /// <returns>The Euler representation of <paramref name="value" />.</returns>
-    /// <see href="https://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/" />
-    public static Vector3d ToEulerAngles(this Quaternion value)
-    {
-        value = Quaternion.Normalize(value);
-        double x = Math.Atan2(2 * (value.X * value.W - value.Y * value.Z), 1 - 2 * (value.X * value.X + value.Z * value.Z));
-        double y = Math.Asin(2 * (value.X * value.Z + value.Y * value.W));
-        double z = Math.Atan2(2 * (value.Z * value.W - value.X * value.Y), 1 - 2 * (value.Y * value.Y + value.Z * value.Z));
-        return new Vector3d(x, y, z) * (180 / Math.PI);
-    }
-
-    /// <summary>
-    ///     Converts this quaternion to an axis/angle pair.
-    /// </summary>
-    /// <param name="value">The quaternion to convert.</param>
-    /// <param name="axis">The axis value.</param>
-    /// <param name="angle">The angle value.</param>
-#pragma warning disable CA1021
-    public static void ToAxisAngle(this Quaternion value, out Vector3d axis, out double angle)
-#pragma warning restore CA1021
-    {
-        angle = 2 * Math.Acos(value.W);
-        axis = Vector3d.Normalize(new Vector3d(value.X, value.Y, value.Z));
-    }
-}

VpSharp/src/JoinRequest.cs

@@ -1,6 +1,5 @@
 using VpSharp.Entities;
 using VpSharp.Exceptions;
-using VpSharp.Extensions;
 using VpSharp.Internal;
 
 namespace VpSharp;
@@ -76,7 +75,7 @@ public sealed class JoinRequest : IEquatable<JoinRequest>
         location ??= _client.CurrentAvatar.Location;
         string worldName = location.Value.World.Name;
         (double x, double y, double z) = location.Value.Position;
-        (double pitch, double yaw, double _) = location.Value.Rotation.ToEulerAngles();
+        (double pitch, double yaw, double _) = location.Value.Rotation;
 
         lock (_client.Lock)
         {

VpSharp/src/Location.cs

@@ -1,7 +1,4 @@
-using System.Numerics;
+using VpSharp.Entities;
-using VpSharp.Entities;
-using VpSharp.Extensions;
-using X10D.Math;
 
 namespace VpSharp;
 
@@ -29,7 +26,7 @@ public readonly struct Location : IEquatable<Location>
     {
         World = world ?? throw new ArgumentNullException(nameof(world));
         Position = new Vector3d(coordinates.X, coordinates.Y, coordinates.Z);
-        Rotation = Quaternion.CreateFromYawPitchRoll((float)coordinates.Yaw.DegreesToRadians(), 0, 0);
+        Rotation = Rotation.CreateFromTiltYawRoll(0, coordinates.Yaw, 0);
     }
 
     /// <summary>
@@ -39,7 +36,7 @@ public readonly struct Location : IEquatable<Location>
     /// <param name="position">The position.</param>
     /// <param name="rotation">The rotation.</param>
     /// <exception cref="ArgumentNullException"><paramref name="world" /> is <see langword="null" />.</exception>
-    public Location(VirtualParadiseWorld world, Vector3d position = default, Quaternion rotation = default)
+    public Location(VirtualParadiseWorld world, Vector3d position = default, Rotation rotation = default)
     {
         World = world ?? throw new ArgumentNullException(nameof(world));
         Position = position;
@@ -64,7 +61,7 @@ public readonly struct Location : IEquatable<Location>
     ///     Gets the rotation represented by this location.
     /// </summary>
     /// <value>The rotation.</value>
-    public Quaternion Rotation { get; init; }
+    public Rotation Rotation { get; init; }
 
     /// <summary>
     ///     Gets the world represented by this location.
@@ -131,8 +128,7 @@ public readonly struct Location : IEquatable<Location>
     public Coordinates ToCoordinates()
     {
         (double x, double y, double z) = Position;
-        (_, double yaw, _) = Rotation.ToEulerAngles();
+        return new Coordinates(World?.Name, x, y, z, Rotation.Yaw);
-        return new Coordinates(World?.Name, x, y, z, yaw);
     }
 
     /// <inheritdoc />

VpSharp/src/Rotation.cs

@@ -0,0 +1,172 @@
+using System.Numerics;
+using X10D.Math;
+using X10D.Numerics;
+
+namespace VpSharp;
+
+/// <summary>
+///     Represents a rotation.
+/// </summary>
+public readonly struct Rotation : IEquatable<Rotation>
+{
+    /// <summary>
+    ///     Represents no rotation.
+    /// </summary>
+    public static readonly Rotation None = new(0, 0, 0, double.PositiveInfinity);
+
+    /// <summary>
+    ///     Initializes a new instance of the <see cref="Rotation" /> struct.
+    /// </summary>
+    /// <param name="tilt">The tilt.</param>
+    /// <param name="yaw">The yaw.</param>
+    /// <param name="roll">The roll.</param>
+    /// <param name="angle">The angle.</param>
+    public Rotation(double tilt, double yaw, double roll, double angle)
+    {
+        Angle = angle;
+        Roll = roll;
+        Tilt = tilt;
+        Yaw = yaw;
+    }
+
+    /// <summary>
+    ///     Gets or initializes the angle component of this rotation.
+    /// </summary>
+    /// <value>The angle component.</value>
+    public double Angle { get; init; }
+
+    /// <summary>
+    ///     Gets or initializes the roll component of this rotation.
+    /// </summary>
+    /// <value>The roll component.</value>
+    /// <remarks>This value is the rotation on the Z axis.</remarks>
+    public double Roll { get; init; }
+
+    /// <summary>
+    ///     Gets or initializes the tilt component of this rotation.
+    /// </summary>
+    /// <value>The tilt component.</value>
+    /// <remarks>This value is the rotation on the X axis.</remarks>
+    public double Tilt { get; init; }
+
+    /// <summary>
+    ///     Gets or initializes the yaw component of this rotation.
+    /// </summary>
+    /// <value>The yaw component.</value>
+    /// <remarks>This value is the rotation on the Y axis.</remarks>
+    public double Yaw { get; init; }
+
+    /// <summary>
+    ///     Returns a value indicating whether the two given rotations are equal.
+    /// </summary>
+    /// <param name="left">The first rotation to compare.</param>
+    /// <param name="right">The second rotation to compare.</param>
+    /// <returns><see langword="true" /> if the two rotations are equal; otherwise, <see langword="false" />.</returns>
+    public static bool operator ==(Rotation left, Rotation right)
+    {
+        return left.Equals(right);
+    }
+
+    /// <summary>
+    ///     Returns a value indicating whether the two given rotations are not equal.
+    /// </summary>
+    /// <param name="left">The first rotation to compare.</param>
+    /// <param name="right">The second rotation to compare.</param>
+    /// <returns><see langword="true" /> if the two rotations are not equal; otherwise, <see langword="false" />.</returns>
+    public static bool operator !=(Rotation left, Rotation right)
+    {
+        return !left.Equals(right);
+    }
+
+    /// <summary>
+    ///     Creates a <see cref="Rotation" /> from the specified axis and angle, as represented in degrees.
+    /// </summary>
+    /// <param name="axis">The axis value.</param>
+    /// <param name="angle">The angle value.</param>
+    /// <returns>A new instance of <see cref="Rotation" />.</returns>
+    public static Rotation CreateFromAxisAngle(Vector3d axis, double angle)
+    {
+        return new Rotation(axis.X, axis.Y, axis.Z, angle.DegreesToRadians());
+    }
+
+    /// <summary>
+    ///     Creates a <see cref="Rotation" /> from the specified quaternion.
+    /// </summary>
+    /// <param name="quaternion">The quaternion.</param>
+    /// <returns>A new instance of <see cref="Rotation" />.</returns>
+    public static Rotation CreateFromQuaternion(Quaternion quaternion)
+    {
+        (Vector3d axis, double angle) = quaternion.ToAxisAngle();
+        return new Rotation(axis.X, axis.Y, axis.Z, angle);
+    }
+
+    /// <summary>
+    ///     Creates a <see cref="Rotation" /> from the specified Euler rotation vector, as represented in degrees.
+    /// </summary>
+    /// <param name="vector">The Euler rotation vector.</param>
+    /// <returns>A new instance of <see cref="Rotation" />.</returns>
+    public static Rotation CreateFromTiltYawRoll(Vector3d vector)
+    {
+        return new Rotation(vector.X, vector.Y, vector.Z, double.PositiveInfinity);
+    }
+
+    /// <summary>
+    ///     Creates a <see cref="Rotation" /> from the specified tilt, yaw, and roll, as represented in degrees.
+    /// </summary>
+    /// <param name="tilt">The tilt.</param>
+    /// <param name="yaw">The yaw.</param>
+    /// <param name="roll">The roll.</param>
+    /// <returns>A new instance of <see cref="Rotation" />.</returns>
+    public static Rotation CreateFromTiltYawRoll(double tilt, double yaw, double roll)
+    {
+        return new Rotation(tilt, yaw, roll, double.PositiveInfinity);
+    }
+
+    /// <summary>
+    ///     Deconstructs this rotation.
+    /// </summary>
+    /// <param name="tilt">When this method returns, contains the <see cref="Tilt" /> component value.</param>
+    /// <param name="yaw">When this method returns, contains the <see cref="Yaw" /> component value.</param>
+    /// <param name="roll">When this method returns, contains the <see cref="Roll" /> component value.</param>
+    public void Deconstruct(out double tilt, out double yaw, out double roll)
+    {
+        Deconstruct(out tilt, out yaw, out roll, out _);
+    }
+
+    /// <summary>
+    ///     Deconstructs this rotation.
+    /// </summary>
+    /// <param name="tilt">When this method returns, contains the <see cref="Tilt" /> component value.</param>
+    /// <param name="yaw">When this method returns, contains the <see cref="Yaw" /> component value.</param>
+    /// <param name="roll">When this method returns, contains the <see cref="Roll" /> component value.</param>
+    /// <param name="angle">When this method returns, contains the <see cref="Angle" /> component value.</param>
+    public void Deconstruct(out double tilt, out double yaw, out double roll, out double angle)
+    {
+        tilt = Tilt;
+        yaw = Yaw;
+        roll = Roll;
+        angle = Angle;
+    }
+
+    /// <summary>
+    ///     Returns a value indicating whether this rotation and another rotation are equal.
+    /// </summary>
+    /// <param name="other">The rotation to compare with this instance.</param>
+    /// <returns><see langword="true" /> if the two rotations are equal; otherwise, <see langword="false" />.</returns>
+    public bool Equals(Rotation other)
+    {
+        return Angle.Equals(other.Angle) && Roll.Equals(other.Roll) && Tilt.Equals(other.Tilt) && Yaw.Equals(other.Yaw);
+    }
+
+    /// <inheritdoc />
+    public override bool Equals(object? obj)
+    {
+        return obj is Rotation other && Equals(other);
+    }
+
+    /// <inheritdoc />
+    public override int GetHashCode()
+    {
+        return HashCode.Combine(Angle, Roll, Tilt, Yaw);
+    }
+}

VpSharp/src/VirtualParadiseClient.Avatars.cs

@@ -1,5 +1,4 @@
 using System.Collections.Concurrent;
-using System.Numerics;
 using VpSharp.Entities;
 using VpSharp.Internal.NativeAttributes;
 using static VpSharp.Internal.NativeMethods;
@@ -52,7 +51,7 @@ public sealed partial class VirtualParadiseClient
             var yaw = (float)vp_double(sender, FloatAttribute.AvatarYaw);
 
             var position = new Vector3d(x, y, z);
-            var rotation = Quaternion.CreateFromYawPitchRoll(yaw, pitch, 0);
+            var rotation = Rotation.CreateFromTiltYawRoll(pitch, yaw, 0);
 
             string applicationName = vp_string(sender, StringAttribute.AvatarApplicationName);
             string applicationVersion = vp_string(sender, StringAttribute.AvatarApplicationVersion);

VpSharp/src/VirtualParadiseClient.NativeEvents.cs

@@ -1,6 +1,5 @@
 using System.Collections.Concurrent;
 using System.Drawing;
-using System.Numerics;
 using System.Threading.Channels;
 using VpSharp.ClientExtensions;
 using VpSharp.Entities;
@@ -103,7 +102,7 @@ public sealed partial class VirtualParadiseClient
         int session;
         int type;
         Vector3d position;
-        Quaternion rotation;
+        Rotation rotation;
 
         lock (Lock)
         {
@@ -117,7 +116,7 @@ public sealed partial class VirtualParadiseClient
 
             var pitch = (float)vp_double(sender, FloatAttribute.AvatarPitch);
             var yaw = (float)vp_double(sender, FloatAttribute.AvatarYaw);
-            rotation = Quaternion.CreateFromYawPitchRoll(yaw, pitch, 0);
+            rotation = Rotation.CreateFromTiltYawRoll(pitch, yaw, 0);
         }
 
         VirtualParadiseAvatar? avatar = GetAvatar(session);
@@ -436,7 +435,7 @@ public sealed partial class VirtualParadiseClient
         int session;
         string worldName;
         Vector3d position;
-        Quaternion rotation;
+        Rotation rotation;
 
         lock (Lock)
         {
@@ -449,7 +448,7 @@ public sealed partial class VirtualParadiseClient
 
             float yaw = vp_float(sender, FloatAttribute.TeleportYaw);
             float pitch = vp_float(sender, FloatAttribute.TeleportPitch);
-            rotation = Quaternion.CreateFromYawPitchRoll(yaw, pitch, 0);
+            rotation = Rotation.CreateFromTiltYawRoll(pitch, yaw, 0);
 
             worldName = vp_string(sender, StringAttribute.TeleportWorld);
         }
@@ -546,7 +545,7 @@ public sealed partial class VirtualParadiseClient
     private async void OnInviteNativeEvent(nint sender)
     {
         Vector3d position;
-        Quaternion rotation;
+        Rotation rotation;
         int requestId;
         int userId;
         string worldName;
@@ -566,7 +565,7 @@ public sealed partial class VirtualParadiseClient
             var pitch = (float)vp_double(sender, FloatAttribute.InvitePitch);
 
             position = new Vector3d(x, y, z);
-            rotation = Quaternion.CreateFromYawPitchRoll(yaw, pitch, 0);
+            rotation = Rotation.CreateFromTiltYawRoll(pitch, yaw, 0);
 
             worldName = vp_string(sender, StringAttribute.InviteWorld);
         }

VpSharp/src/VirtualParadiseClient.Objects.cs

@@ -1,11 +1,9 @@
 using System.Collections.Concurrent;
-using System.Numerics;
 using System.Threading.Channels;
 using VpSharp.Entities;
 using VpSharp.Exceptions;
 using VpSharp.Internal;
 using VpSharp.Internal.NativeAttributes;
-using X10D.Math;
 using static VpSharp.Internal.NativeMethods;
 
 namespace VpSharp;
@@ -179,7 +177,7 @@ public sealed partial class VirtualParadiseClient
         int id;
         int time;
         int owner;
-        Quaternion rotation;
+        Rotation rotation;
         Vector3d position;
 
         lock (Lock)
@@ -200,15 +198,12 @@ public sealed partial class VirtualParadiseClient
 
             if (double.IsPositiveInfinity(angle))
             {
-                rotX = rotX.DegreesToRadians();
+                rotation = Rotation.CreateFromTiltYawRoll(rotX, rotY, rotZ);
-                rotY = rotY.DegreesToRadians();
-                rotZ = rotZ.DegreesToRadians();
-                rotation = Quaternion.CreateFromYawPitchRoll(rotY, rotX, rotZ);
             }
             else
             {
-                var axis = new Vector3(rotX, rotY, rotZ);
+                var axis = new Vector3d(rotX, rotY, rotZ);
-                rotation = Quaternion.CreateFromAxisAngle(axis, angle);
+                rotation = Rotation.CreateFromAxisAngle(axis, angle);
             }
 
             time = vp_int(sender, IntegerAttribute.ObjectTime);

VpSharp/src/VirtualParadiseClient.cs

@@ -2,7 +2,6 @@ using System.Collections.Concurrent;
 using System.Drawing;
 using System.Net;
 using System.Net.Sockets;
-using System.Numerics;
 using System.Security.Authentication;
 using System.Threading.Channels;
 using VpSharp.Entities;
@@ -218,7 +217,7 @@ public sealed partial class VirtualParadiseClient : IDisposable
     public async Task<VirtualParadiseWorld> EnterAsync(string worldName, Vector3d position)
     {
         await EnterAsync(worldName).ConfigureAwait(false);
-        await CurrentAvatar!.TeleportAsync(position, Quaternion.Identity).ConfigureAwait(false);
+        await CurrentAvatar!.TeleportAsync(position, Rotation.None).ConfigureAwait(false);
         return CurrentWorld!;
     }
 
@@ -235,7 +234,7 @@ public sealed partial class VirtualParadiseClient : IDisposable
     /// <exception cref="Exception">Connection to the universe server was lost, or connecting to the world failed.</exception>
     /// <exception cref="WorldNotFoundException">The specified world was not found.</exception>
     /// <exception cref="TimeoutException">Connection to the world server timed out.</exception>
-    public async Task<VirtualParadiseWorld> EnterAsync(string worldName, Vector3d position, Quaternion rotation)
+    public async Task<VirtualParadiseWorld> EnterAsync(string worldName, Vector3d position, Rotation rotation)
     {
         await EnterAsync(worldName).ConfigureAwait(false);
         await CurrentAvatar!.TeleportAsync(position, rotation).ConfigureAwait(false);
@@ -257,7 +256,7 @@ public sealed partial class VirtualParadiseClient : IDisposable
     public async Task EnterAsync(VirtualParadiseWorld world, Vector3d position)
     {
         await EnterAsync(world).ConfigureAwait(false);
-        await CurrentAvatar!.TeleportAsync(position, Quaternion.Identity).ConfigureAwait(false);
+        await CurrentAvatar!.TeleportAsync(position, Rotation.None).ConfigureAwait(false);
     }
 
     /// <summary>
@@ -273,7 +272,7 @@ public sealed partial class VirtualParadiseClient : IDisposable
     /// <exception cref="Exception">Connection to the universe server was lost, or connecting to the world failed.</exception>
     /// <exception cref="WorldNotFoundException">The specified world was not found.</exception>
     /// <exception cref="TimeoutException">Connection to the world server timed out.</exception>
-    public async Task EnterAsync(VirtualParadiseWorld world, Vector3d position, Quaternion rotation)
+    public async Task EnterAsync(VirtualParadiseWorld world, Vector3d position, Rotation rotation)
     {
         await EnterAsync(world).ConfigureAwait(false);
         await CurrentAvatar!.TeleportAsync(position, rotation).ConfigureAwait(false);
@@ -401,7 +400,7 @@ public sealed partial class VirtualParadiseClient : IDisposable
         {
             Application = _configuration.Application!,
             Name = $"[{_configuration.BotName}]",
-            Location = new Location(world, Vector3d.Zero, Quaternion.Identity),
+            Location = new Location(world, Vector3d.Zero, Rotation.None),
             User = CurrentUser!
         };