ogre 欧拉角四元数之间的转换

欧拉角与四元数是什么我就不再赘述，下面是欧拉角与四元数之间的转换。记得参考过某个博客，但是找不到在哪了。。。

#define CLAMP(x , min , max) ((x) > (max) ? (max) : ((x) < (min) ? (min) : x))


	Ogre::Quaternion EulerToQuaternion(Ogre::Real xangle,Ogre::Real yangle,Ogre::Real zangle)
	{
		Real rx=Ogre::Math::PI*xangle/180.00;
		Real ry=Ogre::Math::PI*yangle/180.00;
		Real rz=Ogre::Math::PI*zangle/180.00;

		return Ogre::Quaternion(Math::Cos(Radian(rx/2.0))*Math::Cos(Radian(ry/2.0))*Math::Cos(Radian(rz/2.0))+Math::Sin(Radian(rx/2.0))*Math::Sin(Radian(ry/2.0))*Math::Sin(Radian(rz/2.0)),
			Math::Sin(Radian(rx/2.0))*Math::Cos(Radian(ry/2.0))*Math::Cos(Radian(rz/2.0))-Math::Cos(Radian(rx/2.0))*Math::Sin(Radian(ry/2.0))*Math::Sin(Radian(rz/2.0)),
			Math::Cos(Radian(rx/2.0))*Math::Sin(Radian(ry/2.0))*Math::Cos(Radian(rz/2.0))+Math::Sin(Radian(rx/2.0))*Math::Cos(Radian(ry/2.0))*Math::Sin(Radian(rz/2.0)),
			Math::Cos(Radian(rx/2.0))*Math::Cos(Radian(ry/2.0))*Math::Sin(Radian(rz/2.0))-Math::Sin(Radian(rx/2.0))*Math::Sin(Radian(ry/2.0))*Math::Cos(Radian(rz/2.0)));
	}

	Ogre::Vector3 QuaternionToEuler(Ogre::Real w,Ogre::Real x,Ogre::Real y,Ogre::Real z)
	{
		Vector3 euler=Vector3::ZERO;
		euler.x  = atan2(2 * (w * x + z * y) , 1 - 2 * (y * y + x * x));
		euler.y = asin(CLAMP(2 * (w * y - x * z) , -1.0f , 1.0f));
		euler.z   = atan2(2 * (w * z + y * x) , 1 - 2 * (z * z + y * y));
		return euler;
	}