Main.java Source code

Introduction

Here is the source code for Main.java

Source

//package com.java2s;

public class Main {
    /**
     * Receives a quaternion and returns the same in Euler angles.
     * 
     * @param q0 First component of the quaternion, the independent term.
     * @param q1 Second component of the quaternion, the i term.
     * @param q2 Third component of the quaternion, the j term.
     * @param q3 Forth component of the quaternion, th k term.
     * @return A 3 position array which contains the x, y and z in this order.
     */
    public static final float[] quatenionToEuler(float q0, float q1, float q2, float q3) {
        float[] euler = new float[3];

        euler[0] = (float) Math.atan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1 * q1 + q2 * q2));
        euler[1] = (float) Math.asin(2 * (q0 * q2 - q3 * q1));
        euler[2] = (float) Math.atan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3));

        return euler;
    }
}