RollPitchYawFromQuaternion.cs

RollPitchYawFromQuaternion.cs

// http://answers.unity3d.com/questions/416169/finding-pitchrollyaw-from-quaternions.html
Quaternion q = shipTrans.localRotation;
float x = q.x;
float y = q.y;
float z = q.z;
float w = q.w;
float _pitch = Mathf.Atan2(2*x*w - 2*y*z, 1 - 2*x*x - 2*z*z) * Mathf.Rad2Deg;
float _yaw  = Mathf.Atan2(2*y*w - 2*x*z, 1 - 2*y*y - 2*z*z) * Mathf.Rad2Deg;
float _roll =  Mathf.Asin(2*x*y + 2*z*w) * Mathf.Rad2Deg;

//
	float getPitch(Quaternion q)
	{
		float x = q.x;
		float y = q.y;
		float z = q.z;
		float w = q.w;
		return Mathf.Atan2(2*(y*z + w*x), w*w - x*x - y*y + z*z) * Mathf.Rad2Deg;
	}

	float getYaw(Quaternion q)
	{
		float x = q.x;
		float y = q.y;
		float z = q.z;
		float w = q.w;
		return Mathf.Asin(-2*(x*z - w*y)) * Mathf.Rad2Deg;
	}

	float getRoll(Quaternion q)
	{
		float x = q.x;
		float y = q.y;
		float z = q.z;
		float w = q.w;
		return Mathf.Atan2(2*(x*y + w*z), w*w + x*x - y*y - z*z) * Mathf.Rad2Deg;
	}