Universe.Physics.ConvexDecompositionDotNet.Quaternion.xdir C# (CSharp) Méthode

        public float3 xdir()
        {
            return new float3(1 - 2 * (y * y + z * z), 2 * (x * y + w * z), 2 * (x * z - w * y));
        }

 public static float Roll(Quaternion q)
 {
     q = new Quaternion(new float3(0.0f, 0.0f, 1.0f), -Yaw(q) * (3.14159264f / 180.0f)) * q;
     q = new Quaternion(new float3(1.0f, 0.0f, 0.0f), -Pitch(q) * (3.14159264f / 180.0f)) * q;
     return (float)Math.Atan2(-q.xdir().z, q.xdir().x) * (180.0f / 3.14159264f);
 }