Tait-Bryan, intrinsic only specific implementation of @evbernardes' algorithm (https://github.com/evbernardes/quaternion_to_euler) in C++
Angles CameraBase::calculateAnglesFromQuaternion(DirectX::XMFLOAT4 quaternion)
{
// Ported from: https://github.com/evbernardes/quaternion_to_euler
int i=0;
int j=0;
int k=0;