/**
* vraci Quat na zaklade Eulerovych uhlu rotace kolem jednotlivych os
*
* @param a uhel rotace kolem osy x
* @param b uhel rotace kolem osy y
* @param c uhel rotace kolem osy z
* @return nova instance Quat
*/
public static Quat fromEulerAngles(double a, double b, double c) {
/*
* Quat Qi = new Quat(Math.cos(a/2),Math.sin(a/2),0,0); Quat Qj = new
* Quat(Math.cos(b/2),0,Math.sin(b/2),0); Quat Qk = new
* Quat(Math.cos(c/2),0,0,Math.sin(c/2));
*/
Quat Qi = Quat.fromEulerAngle(a, 1, 0, 0);
Quat Qj = Quat.fromEulerAngle(b, 0, 1, 0);
Quat Qk = Quat.fromEulerAngle(c, 0, 0, 1);
return new Quat(Qk.mul(Qj).mul(Qi));
// this.renorm();
}
