// Get the roll euler angle in radians, which is the rotation around the z axis. Requires that this quaternion is normalized.
// return the rotation around the z axis in radians (between -PI and +PI)
func (self *Quaternion) GetRollRad() float32 {
pole := self.GetGimbalPole()
if pole == 0 {
return utils.Atan2(2*(self.w*self.z+self.y*self.x), 1-2*(self.x*self.x+self.z*self.z))
}
return float32(pole) * 2 * utils.Atan2(self.y, self.w)
}
// Get the yaw euler angle in radians, which is the rotation around the y axis. Requires that this quaternion is normalized.
// return the rotation around the y axis in radians (between -PI and +PI)
func (self *Quaternion) GetYawRad() float32 {
if self.GetGimbalPole() == 0 {
return utils.Atan2(2*(self.y*self.w+self.x*self.z), 1-2*(self.y*self.y+self.x*self.x))
}
return 0
}