方向向量转欧拉角,如何将方向向量转换为欧拉角？

I'm looking for a way to convert direction vector (X,Y,Z) into Euler angles (heading, pitch, bank). I know that direction vector by itself is not enough to get the bank angle, so there's also another so-called Up vector.

Having direction vector (X,Y,Z) and up vector (X,Y,Z) how do I convert that into Euler angles?

解决方案

Let's see if I understand correctly. This is about the orientation of a rigid body in three dimensional space, like an air plane during flight. The nose of that airplane points towards the direction vector

D=(XD,YD,ZD) .

Towards the roof is the up vector

U=(XU,YU,ZU) .

Then heading H would be the direction vector D projected onto the earth surface:

H=(XD,YD,0) ,

with an associated angle

angle_H=atan2(YD,XD) .

Pitch P would be the up/down angle of the nose with respect to the horizon, if the direction vector D is normalized you get it from

ZD=sin(angle_P)

resulting in

angle_P=asin(ZD) .

Finally, for the bank angle we consider the direction of the wings, assuming the wings are perpendicular to the body. If the plane flies straight towards D, the wings point perpendicular to D and parallel to the earth surface:

W0 = ( -YD, XD, 0 )

This would be a bank angle of 0. The expected Up Vector would be perpendicular to W0 and perpendicular to D

U0 = W0 × D

with × denoting the cross product. U equals U0 if the bank angle is zero, otherwise the angle between U and U0 is the bank angle angle_B, which can be calculated from

cos(angle_B) = Dot(U0,U) / abs(U0) / abs(U)

sin(angle_B) = Dot(W0,U) / abs(W0) / abs(U) .

From that you get the bank angle as

angle_B = atan2( Dot(W0,U) / Dot(U0,U) / abs(W0) * abs(U0) ) .

The normalization factors cancel each other if U and D are normalized.