Unity坐标系四元数转角度和轴向

Unity坐标系四元数转角度和轴向 

inline void ToAngleAxis(glm::quat q, float &angle, glm::vec3 &axis)
{
    q = Normalize(q);
    float rad= std::acos(q.w) * 2;
    angle = rad * 180 / M_PI;
    float sinHalfThlta = std::sin(rad / 2);
    glm::vec3 xyz = glm::vec3(q.x, q.y, q.z);
    axis = sinHalfThlta == 0 ? glm::vec3(1,0,0) : xyz/sinHalfThlta;
}