setEuler method

void setEuler (double yaw, double pitch, double roll)

Set quaternion with rotation of yaw, pitch and roll.

Implementation 

void setEuler(double yaw, double pitch, double roll) {
  final double halfYaw = yaw * 0.5;
  final double halfPitch = pitch * 0.5;
  final double halfRoll = roll * 0.5;
  final double cosYaw = math.cos(halfYaw);
  final double sinYaw = math.sin(halfYaw);
  final double cosPitch = math.cos(halfPitch);
  final double sinPitch = math.sin(halfPitch);
  final double cosRoll = math.cos(halfRoll);
  final double sinRoll = math.sin(halfRoll);
  _qStorage[0] = cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw;
  _qStorage[1] = cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw;
  _qStorage[2] = sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw;
  _qStorage[3] = cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw;
}