Discussion Get Inspector Rotation: Converting Quaternion to Euler angles

Following this closed thread wherein explanations ended ambiguously, I found a clearer solution. I've modified for Unity script compatibility and Unity math functions. This will convert to XYZ format (similar to inspector) that is not only a standard that most people are more familiar with, but sometimes programatically the best solution.

Code (CSharp):

1.     public static Vector3 ToEulerAngles(Quaternion q)
2.     {
3.         Vector3 angles;
4.  
5.         //x
6.         double sinr_cosp = 2 * (q.w * q.x + q.y * q.z);
7.         double cosr_cosp = 1 - 2 * (q.x * q.x + q.y * q.y);
8.         angles.x = (float)Math.Atan2(sinr_cosp, cosr_cosp);
9.  
10.         //y
11.         double sinp = 2 * (q.w * q.y - q.z * q.x);
12.         if (Math.Abs(sinp) >= 1)
13.         {
14.             angles.y = ((float)(Math.PI / 2));
15.             if (Mathf.Sign((float)sinp) < 0)
16.             {
17.                 angles.y = angles.y * -1;
18.             }
19.         }
20.         else
21.         {
22.             angles.y = (float)Math.Asin(sinp);
23.         }
24.  
25.         //z
26.         double siny_cosp = 2 * (q.w * q.z + q.x * q.y);
27.         double cosy_cosp = 1 - 2 * (q.y * q.y + q.z * q.z);
28.         angles.z = (float)Math.Atan2(siny_cosp, cosy_cosp);
29.  
30.         return angles;
31.     }