def euler_angles(Q):
w, (x, y, z) = Q
phi = _atan2(2.*(w*x+y*z), 1.-2.*(x*x+y*y))
theta = _asin(2*(w*y-x*z))
psi = _atan2(2.*(w*z+x*y), 1.-2.*(y*y+z*z))
return phi, theta, psi
def asin(x):
return _asin(x) if common._use_radians else _deg(_asin(x))
def asin(x):
return _asin(x) if common._use_radians else _deg(_asin(x))
def critical(n1, n2):
"""Calculate critical angle in degrees."""
assert n1 > n2, "\nWarning: Critical angle is not defined, since n1 <= n2!"
return _degrees(_asin(n2 / n1))