四元数转化欧拉角

struct Quaternion {
    double w, x, y, z;
};
 
struct EulerAngles {
    double roll, pitch, yaw;
};
 
EulerAngles ToEulerAngles(Quaternion q) {
    EulerAngles angles;
 
    // roll (x-axis rotation)
    double sinr_cosp = 2 * (q.w * q.x + q.y * q.z);
    double cosr_cosp = 1 - 2 * (q.x * q.x + q.y * q.y);
    angles.roll = std::atan2(sinr_cosp, cosr_cosp);
 
    // pitch (y-axis rotation)
    double sinp = 2 * (q.w * q.y - q.z * q.x);
    if (std::abs(sinp) >= 1)
        angles.pitch = std::copysign(M_PI / 2, sinp); // use 90 degrees if out of range
    else
        angles.pitch = std::asin(sinp);
 
    // yaw (z-axis rotation)
    double siny_cosp = 2 * (q.w * q.z + q.x * q.y);
    double cosy_cosp = 1 - 2 * (q.y * q.y + q.z * q.z);
    angles.yaw = std::atan2(siny_cosp, cosy_cosp);
 
    return angles;
}

c++的语言、根据这个方法 转化成JS 的方法    yaw这个就是需要求出来的角度、就是利用弧度与角度的转化关系