jacob

// blockland 1.2 plugin snippet

void QuatToEuler(const quat_t *quat, double *rotx,  double *roty, double *rotz)
{
	double sqw;
	double sqx;
	double sqy;
	double sqz;
	
	double rotxrad;
	double rotyrad;
	double rotzrad;
	
	sqw = quat->w * quat->w;
	sqx = quat->x * quat->x;
	sqy = quat->y * quat->y;
	sqz = quat->z * quat->z;
	
	rotxrad = (double)atan2l(2.0 * ( quat->y * quat->z + quat->x * quat->w ) , ( -sqx - sqy + sqz + sqw ));
	rotyrad = (double)asinl(-2.0 * ( quat->x * quat->z - quat->y * quat->w ));
	rotzrad = (double)atan2l(2.0 * ( quat->x * quat->y + quat->z * quat->w ) , (  sqx - sqy - sqz + sqw ));
	
	*rotx = rad2deg(rotxrad);
	*roty = rad2deg(rotyrad);
	*rotz = rad2deg(rotzrad);
	
	return;
}