public LSL_Vector llRot2Euler(LSL_Rotation r)
{
//This implementation is from http://lslwiki.net/lslwiki/wakka.php?wakka=LibraryRotationFunctions. ckrinke
LSL_Rotation t = new LSL_Rotation(r.x * r.x, r.y * r.y, r.z * r.z, r.s * r.s);
double m = (t.x + t.y + t.z + t.s);
if (m == 0) return new LSL_Vector();
double n = 2 * (r.y * r.s + r.x * r.z);
double p = m * m - n * n;
if (p > 0)
return new LSL_Vector(Math.Atan2(2.0 * (r.x * r.s - r.y * r.z), (-t.x - t.y + t.z + t.s)),
Math.Atan2(n, Math.Sqrt(p)),
Math.Atan2(2.0 * (r.z * r.s - r.x * r.y), (t.x - t.y - t.z + t.s)));
if (n > 0)
return new LSL_Vector(0.0, Math.PI * 0.5, Math.Atan2((r.z * r.s + r.x * r.y), 0.5 - t.x - t.z));
return new LSL_Vector(0.0, -Math.PI * 0.5, Math.Atan2((r.z * r.s + r.x * r.y), 0.5 - t.x - t.z));
}