/*Output
1, 0.000122, -0.000122, -0.000742
-0.0139697970533148, -0.0279395932786252, 0.0850286761159263

0.923879, 0, 0, -0.382683
0, 0, 44.9999243069029

0.921593, 0, -0.388156, 0
0, -63.9747933434819, 0

0.922824, -0.385187, 0.002027, -0.004683
45.3082404864558, 0.0217477652132213, 0.83138677312262

0.852329, 0.147665, -0.356494, -0.353046
-4.3666374071391E-05, -55.1072147579062, 44.9999563244289

0.852672, -0.355673, -0.147325, -0.353186
45.2846555490603, -55.0035426284763, 44.9995303315749

0.859898, -0.349869, -0.353665, -0.114391
43.0483665090359, -69.8530490960553, -3.98170732347442

0.741364, -0.203753, -0.454495, -0.449773
45.3122167626241, -73.6222763862334, 43.2312805970048

0.728665, -0.190846, -0.466389, -0.463794
45.2953545085194, -73.9751782030813, 45.0540284997163
*/

        double[] arr = new double[]{
            1.000000,  0.000122, -0.000122, -0.000742,
            0.923879,  0.000000,  0.000000, -0.382683,
            0.921593,  0.000000, -0.388156,  0.000000,
            0.922824, -0.385187,  0.002027, -0.004683,
            0.852329,  0.147665, -0.356494, -0.353046,
            0.852672, -0.355673, -0.147325, -0.353186,
            0.859898, -0.349869, -0.353665, -0.114391,
            0.741364, -0.203753, -0.454495, -0.449773,
            0.728665, -0.190846, -0.466389, -0.463794
        };

        for(int i = 0; i < arr.Length/4; i++)
        {
            double w = arr[i*4], x = arr[i*4+1], y = arr[i*4+2], z = arr[i*4+3];
            Console.WriteLine("{0}, {1}, {2}, {3}", w, x, y, z);
            euler_angles(w, x, y, z);
            Console.WriteLine();
        }

    public static void euler_angles(double w, double x, double y, double z)
    {
        var xa = Math.Asin(2*y*z - 2*x*w);
        var ya = -Math.Atan2(2*x*z - 2*y*w, 0.5 - x*x - y*y);
        var za = -Math.Atan2(x*y + z*w, 0.5 - x*x - z*z);
        Console.WriteLine("{0}, {1}, {2}", xa/Math.PI*180, ya/Math.PI*180, za/Math.PI*180);
    }