Unity中四元数与欧拉角的互相转换

Unity中有相应的api，单纯只是学习一下原理

 Quaternion ToQuaternion(Vector3 v)
    {
        Quaternion q = new Quaternion();
        float yaw = v.z * 0.5f * Mathf.Deg2Rad;
        float pitch = v.y * 0.5f * Mathf.Deg2Rad;
        float roll = v.x * 0.5f * Mathf.Deg2Rad;
        float cy = Mathf.Cos(yaw);
        float sy = Mathf.Sin(yaw);
        float cp = Mathf.Cos(pitch);
        float sp = Mathf.Sin(pitch);
        float cr = Mathf.Cos(roll);
        float sr = Mathf.Sin(roll);

        q.x = cy * cp * sr + sy * sp * cr;
        q.y = cy * sp * cr - sy * cp * sr;
        q.z = sy * cp * cr - cy * sp * sr;
        q.w = cy * cp * cr + sy * sp * sr;
        return q;
    }

    Vector3 ToEuler(Quaternion q)
    {
        Vector3 v = Vector3.zero;
        v.y = Mathf.Atan2(2 * (q.x * q.z + q.w * q.y), (q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z)) * Mathf.Rad2Deg;
        v.x = Mathf.Asin(2 * (q.w * q.x - q.y * q.z)) * Mathf.Rad2Deg;
        v.z = Mathf.Atan2(2 * (q.x * q.y + q.w * q.z), q.w * q.w + q.y * q.y - q.x * q.x - q.z * q.z) * Mathf.Rad2Deg;
        if (v.x < 0) v.x += 360;
        if (v.y < 0) v.y += 360;
        if (v.z < 0) v.z += 360;
        return v;
    }