关于pitch、roll、 yaw的示意图和Laya.Quaternion.createFromYawPitchRoll用法

关于pitch、roll、 yaw的图解和Laya.Quaternion.createFromYawPitchRoll用法

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首先说明一下：transform.rotation获取的是四元数，是从欧拉角转换过的，所以要想直接设置transform.rotation用欧拉角是不行的，得转换一下

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createFromYawPitchRoll用法

最近学laya 3D，看到一个API Laya.Quaternion.createFromYawPitchRoll，看下代码，可以依靠轴角到四元数的公式进行推导，用法就很清楚了：

/**
 *  从欧拉角生成四元数（顺序为Yaw、Pitch、Roll）
 * @param	yaw yaw值
 * @param	pitch pitch值
 * @param	roll roll值
 * @param	out 输出四元数
 */
static createFromYawPitchRoll(yaw: number, pitch: number, roll: number, out: Quaternion): void {
	var halfRoll: number = roll * 0.5;
	var halfPitch: number = pitch * 0.5;
	var halfYaw: number = yaw * 0.5;

	var sinRoll: number = Math.sin(halfRoll);
	var cosRoll: number = Math.cos(halfRoll);
	var sinPitch: number = Math.sin(halfPitch);
	var cosPitch: number = Math.cos(halfPitch);
	var sinYaw: number = Math.sin(halfYaw);
	var cosYaw: number = Math.cos(halfYaw);


	out.x = (cosYaw * sinPitch * cosRoll) + (sinYaw * cosPitch * sinRoll);
	out.y = (sinYaw * cosPitch * cosRoll) - (cosYaw * sinPitch * sinRoll);
	out.z = (cosYaw * cosPitch * sinRoll) - (sinYaw * sinPitch * cosRoll);
	out.w = (cosYaw * cosPitch * cosRoll) + (sinYaw * sinPitch * sinRoll);
	}

用法：

let tempLocalRotation: Laya.Quaternion = new Laya.Quaternion();
Laya.Quaternion.createFromYawPitchRoll(this.yawPitchRoll.x, this.yawPitchRoll.y, this.yawPitchRoll.z, tempLocalRotation);
this.camera.transform.localRotation = tempLocalRotation;

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关于pitch、 roll、 yaw的示意图

ψ、θ、φ分别为绕Z轴、Y轴、X轴的旋转角度，如果用Tait-Bryan angle表示，分别为Yaw、Pitch、Roll

后面我找了张图，描述不太一样，但你知道就好了：

• yaw是围绕Y轴旋转
• pitch是围绕X轴旋转
• roll是围绕Z轴旋转

下面这张，黄色的是y轴：

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