SC2Mapster

void GetYawPitchRoll(point forward, point up, out fixed yaw, out fixed pitch, out fixed roll)
{
    pitch = ASin(-forward.z);
    fixed cosPitch = SquareRoot(1 - forward.z*forward.z);
    
    //Check if we are looking straight up or down
    if (cosPitch == 0 || AbsF(forward.z) >= 1)
    {
        if (pitch > 0)
        {
            yaw = 0;
            roll = ATan2(-up.y, -up.x) + 180;
        }
        else
        {
            yaw = 0;
            roll = -ATan2(up.y, up.x) + 180;    
        }
    }
    else
    {
        
        fixed cosYaw = forward.x/cosPitch;
        fixed sinYaw = forward.y/cosPitch;
        yaw = ATan2(sinYaw, cosYaw);
        
        fixed cosRoll = up.z/cosPitch;
        fixed sinRoll;
        if (AbsF(cosYaw) < AbsF(sinYaw))
        {
            sinRoll = -(up.x + forward.z*cosRoll*cosYaw)/sinYaw;
        }
        else
        {
            sinRoll = (up.y + forward.z*cosRoll*sinYaw)/cosYaw;
        }
        roll = ATan2(sinRoll, cosRoll);
    }
    
    
    //Keep all angles in [0, 360]
    if (yaw < 0)
        yaw += 360;
    else if (yaw >= 360)
        yaw -= 360;
    
    if (pitch < 0)
        pitch += 360;
    else if (pitch >= 360)
        pitch -= 360;
        
    if (roll < 0)
        roll += 360;
    else if (roll >= 360)
        roll -= 360;
}