public static idAngles ToAngles(this Matrix m)
{
float sp = m.M13;
// cap off our sin value so that we don't get any NANs
if(sp > 1.0f)
{
sp = 1.0f;
}
else if(sp < -1.0f)
{
sp = -1.0f;
}
double theta = -System.Math.Asin(sp);
double cp = System.Math.Cos(theta);
idAngles angles = new idAngles();
if(cp > (8192.0f * idMath.Epsilon))
{
angles.Pitch = MathHelper.ToDegrees((float) theta);
angles.Yaw = MathHelper.ToDegrees(idMath.Atan2(m.M12, m.M11));
angles.Roll = MathHelper.ToDegrees(idMath.Atan2(m.M23, m.M33));
}
else
{
angles.Pitch = MathHelper.ToDegrees((float) theta);
angles.Yaw = MathHelper.ToDegrees(-idMath.Atan2(m.M21, m.M22));
angles.Roll = 0;
}
return angles;
}
#endregion
