四元数与矩阵欧拉角之间的相互转换

 四元数转矩阵

void fromInertialToObjectQuaternion(const Quaternion &q);
	void fromObjectToInertialQuaternion(const Quaternion &q);

void RotationMatrix::fromInertialToObjectQuaternion(const Quaternion &q)
{
	m11 = 1.0f - 2.0f*q.y*q.y - 2.0f*q.z*q.z;
	m12 = 2.0f * q.x*q.y + 2.0f * q.w*q.z;
	m13 = 2.0f * q.x*q.z - 2.0f * q.w*q.y;
	m21 = 2.0f * q.x*q.y - 2.0f * q.w*q.z;
	m22 = 1.0f - 2.0f * q.x*q.x - 2.0f * q.z*q.z;
	m23 = 2.0f * q.y*q.z + 2.0f * q.w*q.x;
	m31 = 2.0f * q.x*q.z + 2.0f * q.w*q.y;
	m32 = 2.0f * q.y*q.z - 2.0f * q.w*q.z;
	m33 = 1.0f - 2.0f * q.x*q.x - 2.0f * q.y*q.y;
}

//正交矩阵 逆=转置
void RotationMatrix::fromObjectToInertialQuaternion(const Quaternion &q)
{
	m11 = 1.0f - 2.0f*q.y*q.y - 2.0f*q.z*q.z;
	m21 = 2.0f * q.x*q.y + 2.0f * q.w*q.z;
	m31 = 2.0f * q.x*q.z - 2.0f * q.w*q.y;
	m12 = 2.0f * q.x*q.y - 2.0f * q.w*q.z;
	m22 = 1.0f - 2.0f * q.x*q.x - 2.0