Unity欧拉角局部坐标到世界坐标系的转化 C语言

欧拉角转四元数再进行框架耦合再转回欧拉角

• 首先定义结构体

// 三轴欧拉角
typedef struct
{
    double Roll;  // roll_z
    double Pitch;  // pitch_x
    double Yaw;  // yaw_y
}GyroEulerAngle;

// 四元数结构体
typedef struct 
{
    float x, y, z, w;
}Quaternions;

• 欧拉角转四元数

//欧拉角转四元素 euler_angle：输入欧拉角 q1：输出四元素
int Conversion_Euler_to_Quaternion(Quaternions *q1, GyroEulerAngle *euler_angle)
{
    double g = euler_angle->Roll * PI / 180;
    double a = euler_angle->Pitch * PI / 180;
    double b = euler_angle->Yaw * PI / 180;
    double ca = cos(a / 2);
    double sa = sin(a / 2);
    double cb = cos(b / 2);
    double sb = sin(b / 2);
    double cg = cos(g