四元数转欧拉角代码

static inline void QuaternionToAngleAxis(const float * quaternion,
                                         float* angle_axis) {
  const float q1 = quaternion[1];
  const float q2 = quaternion[2];
  const float q3 = quaternion[3];
  const float sin_squared_theta = q1 * q1 + q2 * q2 + q3 * q3;

  // For quaternions representing non-zero rotation, the conversion
  // is numerically stable.
  if (sin_squared_theta > 0.0f) {
    const float sin_theta = sqrt(sin_squared_theta);
    const float cos_theta = quaternion[0];

  
    const float two_theta =
        2.0 * ((cos_theta < 0.0)
               ? atan2(-sin_theta, -cos_theta)
               : atan2(sin_theta, cos_theta));
    const float k = two_theta / sin_theta;
    angle_axis[0] = q1 * k;
    angle_axis[1] = q2 * k;
    angle_axis[2] = q3 * k;
  } else {
    // For zero rotation, sqrt() will produce NaN in the derivative since
    // the argument is zero. By approximating with a Taylor series,
    // and truncating at one term, the value and first derivatives will be
    // computed correctly when Jets are used.
    angle_axis[0] = q1 * 2.0f;
    angle_axis[1] = q2 * 2.0f;
    angle_axis[2] = q3 * 2.0f;
  }
}