Secnond revision of Sit and Stand for unscripted prims; Comment out

spammy debug messages in Interregion....

4 files changed, 156 insertions, 122 deletions

diff --git a/OpenSim/Framework/Servers/VersionInfo.cs b/OpenSim/Framework/Servers/VersionInfo.cs
index 0d4215b..f5be1e6 100644
--- a/OpenSim/Framework/Servers/VersionInfo.cs
+++ b/OpenSim/Framework/Servers/VersionInfo.cs
@@ -29,9 +29,8 @@ namespace OpenSim
 {
     public class VersionInfo
     {
-        private const string VERSION_NUMBER = "0.6.9-CM";
-        private const Flavour VERSION_FLAVOUR = Flavour.Dev;
-
+        private const string VERSION_NUMBER = "112609s";
+        private const Flavour VERSION_FLAVOUR = Flavour.BetaM7;
         public enum Flavour
         {
             Unknown,
@@ -39,7 +38,8 @@ namespace OpenSim
             RC1,
             RC2,
             Release,
-            Post_Fixes
+            Post_Fixes,
+            BetaM7            
         }
 
         public static string Version
diff --git a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Interregion/RESTInterregionComms.cs b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Interregion/RESTInterregionComms.cs
index 710e3ca..39e2413 100644
--- a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Interregion/RESTInterregionComms.cs
+++ b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Interregion/RESTInterregionComms.cs
@@ -331,12 +331,11 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Interregion
         {
             //m_log.Debug("[CONNECTION DEBUGGING]: AgentHandler Called");
 
-            m_log.Debug("---------------------------");
+/*            m_log.Debug("---------------------------");
             m_log.Debug(" >> uri=" + request["uri"]);
             m_log.Debug(" >> content-type=" + request["content-type"]);
             m_log.Debug(" >> http-method=" + request["http-method"]);
-            m_log.Debug("---------------------------\n");
-
+            m_log.Debug("---------------------------\n");                                       */
             Hashtable responsedata = new Hashtable();
             responsedata["content_type"] = "text/html";
             responsedata["keepalive"] = false;
@@ -576,11 +575,11 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Interregion
         {
             m_log.Debug("[CONNECTION DEBUGGING]: ObjectHandler Called");
 
-            m_log.Debug("---------------------------");
+ /*           m_log.Debug("---------------------------");
             m_log.Debug(" >> uri=" + request["uri"]);
             m_log.Debug(" >> content-type=" + request["content-type"]);
             m_log.Debug(" >> http-method=" + request["http-method"]);
-            m_log.Debug("---------------------------\n");
+            m_log.Debug("---------------------------\n");                                       */
 
             Hashtable responsedata = new Hashtable();
             responsedata["content_type"] = "text/html";
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index 19e3023..9f2c3db 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -212,6 +212,7 @@ namespace OpenSim.Region.Framework.Scenes
         private Quaternion m_sitTargetOrientation = Quaternion.Identity;
         private Vector3 m_sitTargetPosition;
         private string m_sitAnimation = "SIT";
+        private bool m_occupied;                                        // KF if any av is sitting on this prim
         private string m_text = String.Empty;
         private string m_touchName = String.Empty;
         private readonly UndoStack<UndoState> m_undo = new UndoStack<UndoState>(5);
@@ -993,6 +994,13 @@ namespace OpenSim.Region.Framework.Scenes
             get { return _flags; }
             set { _flags = value; }
         }
+        
+        [XmlIgnore]
+        public bool IsOccupied                          // KF If an av is sittingon this prim
+        {
+                get { return m_occupied; }
+                set { m_occupied = value; }
+        }
 
         [XmlIgnore]
         public UUID SitTargetAvatar
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index cebd108..817b9df 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -197,6 +197,7 @@ namespace OpenSim.Region.Framework.Scenes
         private bool m_autopilotMoving;
         private Vector3 m_autoPilotTarget;
         private bool m_sitAtAutoTarget;
+        private Vector3 m_initialSitTarget;             //KF: First estimate of where to sit
 
         private string m_nextSitAnimation = String.Empty;
 
@@ -1524,7 +1525,6 @@ namespace OpenSim.Region.Framework.Scenes
             m_sitAtAutoTarget = false;
             PrimitiveBaseShape proxy = PrimitiveBaseShape.Default;
             //proxy.PCode = (byte)PCode.ParticleSystem;
-
             proxyObjectGroup = new SceneObjectGroup(UUID, Pos, Rotation, proxy);
             proxyObjectGroup.AttachToScene(m_scene);
             
@@ -1566,7 +1566,7 @@ namespace OpenSim.Region.Framework.Scenes
                 }
                 m_moveToPositionInProgress = true;
                 m_moveToPositionTarget = new Vector3(locx, locy, locz);
-            }
+                        }
             catch (Exception ex)
             {
                 //Why did I get this error?
@@ -1646,16 +1646,22 @@ namespace OpenSim.Region.Framework.Scenes
                     m_parentPosition = part.GetWorldPosition();
                     ControllingClient.SendClearFollowCamProperties(part.ParentUUID);
                 }
+                                // part.GetWorldRotation()   is the rotation of the object being sat on
+                                // Rotation  is the sittiing Av's rotation
+                                
+                                Quaternion wr = Quaternion.Inverse(Quaternion.Inverse(Rotation) * Quaternion.Inverse(part.GetWorldRotation())); // world or. of the av
+                                Vector3 so = new Vector3(1.0f, 0f, 0f) * wr;            // 1M infront of av
+                                Vector3 wso = so + part.GetWorldPosition() + ( m_pos * part.GetWorldRotation());                        // + av sit offset!
 
                 if (m_physicsActor == null)
                 {
                     AddToPhysicalScene(false);
                 }
-                m_pos += m_parentPosition + new Vector3(0.0f, 0.0f, 2.0f*m_sitAvatarHeight);
+                        AbsolutePosition = wso;                  //KF: Fix stand up.
                 m_parentPosition = Vector3.Zero;
-//Console.WriteLine("Stand Pos {0}", m_pos);
-
-                m_parentID = 0;
+                
+                                m_parentID = 0;
+                part.IsOccupied = false;
                 SendFullUpdateToAllClients();
                 m_requestedSitTargetID = 0;
                 if ((m_physicsActor != null) && (m_avHeight > 0))
@@ -1694,13 +1700,9 @@ namespace OpenSim.Region.Framework.Scenes
                 Vector3 avSitOffSet = part.SitTargetPosition;
                 Quaternion avSitOrientation = part.SitTargetOrientation;
                 UUID avOnTargetAlready = part.GetAvatarOnSitTarget();
-
-                bool SitTargetUnOccupied = (!(avOnTargetAlready != UUID.Zero));
-                bool SitTargetisSet =
-                    (!(avSitOffSet.X == 0f && avSitOffSet.Y == 0f && avSitOffSet.Z == 0f && avSitOrientation.W == 1f &&
-                       avSitOrientation.X == 0f && avSitOrientation.Y == 0f && avSitOrientation.Z == 0f));
-                                                        // this test is probably failing
-                if (SitTargetisSet && SitTargetUnOccupied)
+                bool SitTargetOccupied = (avOnTargetAlready != UUID.Zero);
+                    bool SitTargetisSet = (Vector3.Zero != avSitOffSet);                //NB Latest SL Spec shows Sit Rotation setting is ignored.
+                if (SitTargetisSet && !SitTargetOccupied)
                 {
                     //switch the target to this prim
                     return part;
@@ -1714,7 +1716,7 @@ namespace OpenSim.Region.Framework.Scenes
         private void SendSitResponse(IClientAPI remoteClient, UUID targetID, Vector3 offset)
         {
             bool autopilot = true;
-            Vector3 pos = new Vector3();
+            Vector3 autopilotTarget = new Vector3();
             Quaternion sitOrientation = Quaternion.Identity;
             Vector3 cameraEyeOffset = Vector3.Zero;
             Vector3 cameraAtOffset = Vector3.Zero;
@@ -1722,98 +1724,104 @@ namespace OpenSim.Region.Framework.Scenes
 
             //SceneObjectPart part =  m_scene.GetSceneObjectPart(targetID);
             SceneObjectPart part =  FindNextAvailableSitTarget(targetID);
-            if (part != null)
-            {
-                // TODO: determine position to sit at based on scene geometry; don't trust offset from client
-                // see http://wiki.secondlife.com/wiki/User:Andrew_Linden/Office_Hours/2007_11_06 for details on how LL does it
+            if (part == null) return;
+            
+            // TODO: determine position to sit at based on scene geometry; don't trust offset from client
+            // see http://wiki.secondlife.com/wiki/User:Andrew_Linden/Office_Hours/2007_11_06 for details on how LL does it
                 
-                                // part is the prim to sit on
-                                // offset is the vector distance from that prim center to the click-spot
-                                // UUID  is the UUID of the Avatar doing the clicking
-                                
-                                m_avInitialPos = AbsolutePosition;                      // saved to calculate unscripted sit rotation
+                        // part is the prim to sit on
+                        // offset is the world-ref vector distance from that prim center to the click-spot
+                        // UUID  is the UUID of the Avatar doing the clicking
                                 
-                // Is a sit target available?
-                Vector3 avSitOffSet = part.SitTargetPosition;
-                Quaternion avSitOrientation = part.SitTargetOrientation;
-                UUID avOnTargetAlready = part.GetAvatarOnSitTarget();
-
-                bool SitTargetUnOccupied = (!(avOnTargetAlready != UUID.Zero));
-//                bool SitTargetisSet =
-//                  (!(avSitOffSet.X == 0f && avSitOffSet.Y == 0f && avSitOffSet.Z == 0f && avSitOrientation.W == 0f &&
-//                   avSitOrientation.X == 0f && avSitOrientation.Y == 0f && avSitOrientation.Z == 1f));
-
-                bool SitTargetisSet = ((Vector3.Zero != avSitOffSet)  || (Quaternion.Identity != avSitOrientation));
-                    
-//Console.WriteLine("SendSitResponse offset=" + offset + "  UnOccup=" + SitTargetUnOccupied +
-//                                      "    TargSet=" + SitTargetisSet);
-                                // Sit analysis rewritten by KF 091125 
-                if (SitTargetisSet)             // scipted sit
-                {
-                                        if (SitTargetUnOccupied)
-                                        {
-                        part.SetAvatarOnSitTarget(UUID);                // set that Av will be on it
-                        offset = new Vector3(avSitOffSet.X, avSitOffSet.Y, avSitOffSet.Z);      // change ofset to the scripted one
-                        sitOrientation = avSitOrientation;              // Change rotatione to the scripted one
-                        autopilot = false;                                              // Jump direct to scripted llSitPos()
-                    }
-                        else return;
+                        m_avInitialPos = AbsolutePosition;                      // saved to calculate unscripted sit rotation
+                        
+            // Is a sit target available?
+            Vector3 avSitOffSet = part.SitTargetPosition;
+            Quaternion avSitOrientation = part.SitTargetOrientation;
+
+            bool SitTargetisSet = (Vector3.Zero != avSitOffSet);                //NB Latest SL Spec shows Sit Rotation setting is ignored.
+                Quaternion partIRot = Quaternion.Inverse(part.GetWorldRotation());
+                       
+//Console.WriteLine("SendSitResponse offset=" + offset + "  Occup=" + part.IsOccupied + "    TargSet=" + SitTargetisSet);
+                        // Sit analysis rewritten by KF 091125 
+            if (SitTargetisSet)                 // scipted sit
+            {
+                                if (!part.IsOccupied)
+                                {
+//Console.WriteLine("Scripted, unoccupied");                                    
+                    part.SetAvatarOnSitTarget(UUID);            // set that Av will be on it
+                    offset = new Vector3(avSitOffSet.X, avSitOffSet.Y, avSitOffSet.Z);  // change ofset to the scripted one
+                    sitOrientation = avSitOrientation;          // Change rotatione to the scripted one
+                    autopilot = false;                                          // Jump direct to scripted llSitPos()
                 }
-                else    // Not Scripted
-                {
-                        if ( (Math.Abs(offset.X) > 0.5f) || (Math.Abs(offset.Y) > 0.5f) ) // large prim
-                        {
-                                Quaternion partIRot = Quaternion.Inverse(part.GetWorldRotation());
-                                m_avUnscriptedSitPos = offset * partIRot;               // sit where clicked
-                                pos = part.AbsolutePosition + (offset  * partIRot);
-                        }
-                        else            // small prim
-                        {
-                                                if (SitTargetUnOccupied)
-                                                {
-                                                        m_avUnscriptedSitPos = Vector3.Zero;    // Sit on unoccupied small prim center
-                                                        pos = part.AbsolutePosition;
-                                }
-                                else return;            // occupied small
-                        }       // end large/small
-                } // end Scripted/not
-
-                if (m_physicsActor != null)
-                {
-                    // If we're not using the client autopilot, we're immediately warping the avatar to the location
-                    // We can remove the physicsActor until they stand up.
-                    m_sitAvatarHeight = m_physicsActor.Size.Z;
-
-                    if (autopilot)
-                    {                           // its not a scripted sit
-                        if (Util.GetDistanceTo(AbsolutePosition, pos) < 4.5)
-                        {
-                            autopilot = false;          // close enough
+                else
+                {
+//Console.WriteLine("Scripted, occupied");                      
+                         return;
+                }
+            }
+            else        // Not Scripted
+            {
+                if ( (Math.Abs(offset.X) > 0.5f) || (Math.Abs(offset.Y) > 0.5f) ) 
+                {
+                        // large prim & offset, ignore if other Avs sitting
+//                      offset.Z -= 0.05f;
+                        m_avUnscriptedSitPos = offset * partIRot;                                       // (non-zero) sit where clicked
+                        autopilotTarget = part.AbsolutePosition + offset;                       // World location of clicked point
+                        
+//Console.WriteLine(" offset ={0}", offset);            
+//Console.WriteLine(" UnscriptedSitPos={0}", m_avUnscriptedSitPos);            
+//Console.WriteLine(" autopilotTarget={0}", autopilotTarget);            
+                        
+                }
+                else            // small offset
+                {
+//Console.WriteLine("Small offset");                            
+                                        if (!part.IsOccupied)
+                                        {
+                                                m_avUnscriptedSitPos = Vector3.Zero;    // Zero = Sit on prim center
+                                                autopilotTarget = part.AbsolutePosition;
+                        }
+                        else return;            // occupied small
+                }       // end large/small
+            } // end Scripted/not
+            cameraAtOffset = part.GetCameraAtOffset();
+            cameraEyeOffset = part.GetCameraEyeOffset();
+            forceMouselook = part.GetForceMouselook();
 
-                            RemoveFromPhysicalScene();
-                            AbsolutePosition = pos + new Vector3(0.0f, 0.0f, (m_sitAvatarHeight / 2.0f));  // Warp av to Prim
-                        } // else the autopilot will get us close
-                    }
-                    else
-                    {   // its a scripted sit
+            if (m_physicsActor != null)
+            {
+                // If we're not using the client autopilot, we're immediately warping the avatar to the location
+                // We can remove the physicsActor until they stand up.
+                m_sitAvatarHeight = m_physicsActor.Size.Z;
+                if (autopilot)
+                {                               // its not a scripted sit
+//                        if (Util.GetDistanceTo(AbsolutePosition, autopilotTarget) < 4.5)
+                                        if( (Math.Abs(AbsolutePosition.X - autopilotTarget.X) < 2.0f) && (Math.Abs(AbsolutePosition.Y - autopilotTarget.Y) < 2.0f) )
+                    {
+                        autopilot = false;              // close enough
                         RemoveFromPhysicalScene();
-                    }
+                        AbsolutePosition = autopilotTarget + new Vector3(0.0f, 0.0f, (m_sitAvatarHeight / 2.0f));  // Warp av to over sit target
+                    } // else the autopilot will get us close
+                }
+                else
+                {       // its a scripted sit
+                    RemoveFromPhysicalScene();
                 }
-
-                cameraAtOffset = part.GetCameraAtOffset();
-                cameraEyeOffset = part.GetCameraEyeOffset();
-                forceMouselook = part.GetForceMouselook();
             }
+            else return;    // physactor is null! 
 
-            ControllingClient.SendSitResponse(targetID, offset, sitOrientation, autopilot, cameraAtOffset, cameraEyeOffset, forceMouselook);
-            m_requestedSitTargetUUID = targetID;
+                        Vector3 offsetr = offset * partIRot;            
+            ControllingClient.SendSitResponse(part.UUID, offsetr, sitOrientation, autopilot, cameraAtOffset, cameraEyeOffset, forceMouselook);
+            m_requestedSitTargetUUID = part.UUID;               //KF: Correct autopilot target
             // This calls HandleAgentSit twice, once from here, and the client calls
             // HandleAgentSit itself after it gets to the location
             // It doesn't get to the location until we've moved them there though
             // which happens in HandleAgentSit :P
             m_autopilotMoving = autopilot;
-            m_autoPilotTarget = pos;
+            m_autoPilotTarget = autopilotTarget;
             m_sitAtAutoTarget = autopilot;
+            m_initialSitTarget = autopilotTarget;
             if (!autopilot)
                 HandleAgentSit(remoteClient, UUID);
         }
@@ -1898,6 +1906,7 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     if (part.GetAvatarOnSitTarget() == UUID)
                     {
+//Console.WriteLine("Scripted Sit");
                         // Scripted sit
                         Vector3 sitTargetPos = part.SitTargetPosition;
                         Quaternion sitTargetOrient = part.SitTargetOrientation;
@@ -1905,42 +1914,44 @@ namespace OpenSim.Region.Framework.Scenes
                         m_pos += SIT_TARGET_ADJUSTMENT;
                         m_bodyRot = sitTargetOrient;
                         m_parentPosition = part.AbsolutePosition;
+                            part.IsOccupied = true;                        
                     }
                     else
                     {
+//Console.WriteLine("NON Scripted Sit");
+                                                // if m_avUnscriptedSitPos is zero then Av sits above center
+                                                // Else Av sits at m_avUnscriptedSitPos                                         
+                                                
                         // Non-scripted sit by Kitto Flora 21Nov09
                         // Calculate angle of line from prim to Av
+                        Quaternion partIRot = Quaternion.Inverse(part.GetWorldRotation());
                         Vector3 sitTargetPos= part.AbsolutePosition + m_avUnscriptedSitPos;
                                 float y_diff = (m_avInitialPos.Y - sitTargetPos.Y);
                         float x_diff = ( m_avInitialPos.X - sitTargetPos.X);
                         if(Math.Abs(x_diff) < 0.001f) x_diff = 0.001f;                  // avoid div by 0
                         if(Math.Abs(y_diff) < 0.001f) y_diff = 0.001f;                  // avoid pol flip at 0
                         float sit_angle = (float)Math.Atan2( (double)y_diff, (double)x_diff);
-                                                Quaternion partIRot = Quaternion.Inverse(part.GetWorldRotation());
                                                 // NOTE: when sitting m_ pos and m_bodyRot are *relative* to the prim location/rotation, not 'World'.
                         //  Av sits at world euler <0,0, z>, translated by part rotation 
                         m_bodyRot = partIRot * Quaternion.CreateFromEulers(0f, 0f, sit_angle);          // sit at 0,0,inv-click
+                        
                         m_parentPosition = part.AbsolutePosition;
-                        if(m_avUnscriptedSitPos != Vector3.Zero)
-                        {                               // sit where clicked on big prim
-                                m_pos = m_avUnscriptedSitPos + (new Vector3(0.0f, 0f, 0.625f) * partIRot);
-                            }
-                            else
-                            {             // sit at center of small prim
-                                m_pos = new Vector3(0f, 0f, 0.05f) + 
-                                                (new Vector3(0.0f, 0f, 0.625f) * partIRot) + 
-                                                (new Vector3(0.25f, 0f, 0.0f) * m_bodyRot);
-                                //Set up raytrace to find top surface of prim
-                                            Vector3 size = part.Scale;
-                                                        float mag = 0.1f + (float)Math.Sqrt((size.X * size.X) + (size.Y * size.Y) + (size.Z * size.Z));
-                                                        Vector3 start =  part.AbsolutePosition + new Vector3(0f, 0f, mag);
-                                                        Vector3 down = new Vector3(0f, 0f, -1f);    
-                                    m_scene.PhysicsScene.RaycastWorld(
+                        part.IsOccupied = true;
+                        m_pos = new Vector3(0f, 0f, 0.05f) +                                    // corrections to get Sit Animation
+                                        (new Vector3(0.0f, 0f, 0.61f) * partIRot) +     // located on center
+                                        (new Vector3(0.34f, 0f, 0.0f) * m_bodyRot) +
+                                        m_avUnscriptedSitPos;                                                   // adds click offset, if any
+                            //Set up raytrace to find top surface of prim
+                                        Vector3 size = part.Scale;
+                                                float mag = 0.1f + (float)Math.Sqrt((size.X * size.X) + (size.Y * size.Y) + (size.Z * size.Z));
+                                                Vector3 start =  part.AbsolutePosition + new Vector3(0f, 0f, mag);
+                                                Vector3 down = new Vector3(0f, 0f, -1f);    
+//Console.WriteLine("st={0}  do={1}  ma={2}", start, down, mag);                                                
+                                m_scene.PhysicsScene.RaycastWorld(
                                         start,          // Vector3 position,
                                         down,           // Vector3 direction,
                                         mag,            // float length,
                                         SitAltitudeCallback);           // retMethod
-                            } // end small/big
                         } // end scripted/not
                 }
                 else  // no Av
@@ -1957,19 +1968,24 @@ namespace OpenSim.Region.Framework.Scenes
             SendFullUpdateToAllClients();
         }
         
-        public void SitAltitudeCallback(bool hitYN, Vector3 collisionPoint, uint localid, float distance)
+        public void SitAltitudeCallback(bool hitYN, Vector3 collisionPoint, uint localid, float distance)       // KF: Nov 2009
         {
+                        // KF: 091202 There appears to be a bug in Prim Edit Size - the process sometimes make a prim that RayTrace no longer
+                        //     sees. Take/re-rez, or sim restart corrects the condition. Result of bug is incorrect sit height.
                         if(hitYN)
                         {
                                 // m_pos = Av offset from prim center to make look like on center
                                 // m_parentPosition = Actual center pos of prim
                                 // collisionPoint = spot on prim where we want to sit
+                                // collisionPoint.Z = global sit surface height
                                 SceneObjectPart part = m_scene.GetSceneObjectPart(localid);
-                                Vector3 offset =  (collisionPoint - m_parentPosition) * Quaternion.Inverse(part.RotationOffset);
+                                Quaternion partIRot = Quaternion.Inverse(part.GetWorldRotation());
+                                float offZ = collisionPoint.Z - m_initialSitTarget.Z;
+                                Vector3 offset = new Vector3(0.0f, 0.0f, offZ) * partIRot; // Altitude correction
+//Console.WriteLine("sitPoint={0},  offset={1}",  sitPoint,  offset);
                                 m_pos += offset;
-//                              Console.WriteLine("m_pos={0},  offset={1}       newsit={2}",  m_pos,  offset,  newsit);
                         }
-                }
+                } // End SitAltitudeCallback  KF.
 
         /// <summary>
         /// Event handler for the 'Always run' setting on the client
@@ -3716,5 +3732,16 @@ namespace OpenSim.Region.Framework.Scenes
                 m_reprioritization_called = false;
             }
         }
+        
+        private Vector3 Quat2Euler(Quaternion rot){
+                float x = Utils.RAD_TO_DEG * (float)Math.Atan2((double)((2.0f * rot.X * rot.W) - (2.0f * rot.Y * rot.Z)) , 
+                                                                                                                (double)(1 - (2.0f * rot.X * rot.X) - (2.0f * rot.Z * rot.Z)));
+                float y = Utils.RAD_TO_DEG * (float)Math.Asin ((double)((2.0f * rot.X * rot.Y) + (2.0f * rot.Z * rot.W)));
+                float z = Utils.RAD_TO_DEG * (float)Math.Atan2(((double)(2.0f * rot.Y * rot.W) - (2.0f * rot.X * rot.Z)) , 
+                                                                                                                (double)(1 - (2.0f * rot.Y * rot.Y) - (2.0f * rot.Z * rot.Z)));
+                return(new Vector3(x,y,z));
+            }
+
+
     }
 }