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.S