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我已經看過三個單獨的公式,雖然他們大多是相同的,但我想知道爲什麼他們的符號不同。爲了說明,這裏的公式:將歐拉轉換爲四元數符號
共同守則
float xSin = Math::Sinr (x/2);
float xCos = Math::cosr (x/2);
float ySin = Math::Sinr (y/2);
float yCos = Math::Cosr (y/2);
float zSin = Math::Sinr (z/2);
float zCos = Math::Cosr (z/2);
X = xSin * yCos * zCos + xCos * ySin * zSin;
Y = xCos * ySin * zCos + xSin * yCos * zSin;
Z = xCos * yCos * zSin - xSin * ySin * zCos;
W = xCos * yCos * zCos - xSin * ySin * zSin;
X = xSin * yCos * zCos - xCos * ySin * zSin;
Y = xCos * ySin * zCos + xSin * yCos * zSin;
Z = xCos * yCos * zSin - xSin * ySin * zCos;
W = xCos * yCos * zCos + xSin * ySin * zSin;
X = xSin * yCos * zCos + xCos * ySin * zSin;
Y = xCos * ySin * zCos - xSin * yCos * zSin;
Z = xCos * yCos * zSin - xSin * ySin * zCos;
W = xCos * yCos * zCos + xSin * ySin * zSin;
你可以看到第一個具有+ + - -
,第二- + - +
和第三+ - - +
。爲此,我已經規範了偏航俯仰,並將其轉換爲適當的XYZ對應物,但我不瞭解這些標誌的差異。
有12個歐拉天使代表https://en.wikipedia.org/wiki/Euler_angles 可能你的來源使用不同的 – minorlogic