Radians and Degrees

[SterlingPeet]

Angles are sometimes expressed as Radians, but the Simulator initial conditions and a few other locations are in Degrees. Choosing one convention (I recommend radians) for the whole simulator and sticking to it is less confusing.

[arindam1993]

Fair point,my idea was to implement something similar to what most Game Engines/3D Software Packages(Unity, Blender) will implement, anything user facing will allow you to set up in degrees and convert internally to a Quaternion or a Transform Matrix, I took the approach of using rotation matrices internally. I don't really understand Quaternions properly enough to implement them.
I'll consult with Prof. Tucker and refactor accordingly, thanks for pointing this out though, I understand it can be confusing!