Unity3D中通过四元数得到欧拉角

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void Start () {        gameObject.transform.rotation = QuaternionToEular(-89.0f,50.0f,100.0f);            }// Update is called once per framevoid Update () {}    private Quaternion QuaternionToEular(float XX, float YY,float ZZ)    {        float X = XX /180* Mathf.PI;        float Y = YY / 180 * Mathf.PI;        float Z = ZZ / 180 * Mathf.PI;        float x = Mathf.Cos(Y / 2) * Mathf.Sin(X / 2) * Mathf.Cos(Z/ 2) +Mathf.Sin(Y / 2) * Mathf.Cos(X / 2) * Mathf.Sin(Z/ 2);               float y = Mathf.Sin(Y / 2)*Mathf.Cos(X/ 2)*Mathf.Cos(Z / 2) -Mathf.Cos(Y / 2)*Mathf.Sin(X/ 2)*Mathf.Sin(Z/ 2);        float z=  Mathf.Cos(Y / 2) * Mathf.Cos(X/ 2) * Mathf.Sin(Z/ 2)-Mathf.Sin(Y / 2) * Mathf.Sin(X/ 2) * Mathf.Cos(Z / 2);        float w=Mathf.Cos(Y / 2)* Mathf.Cos(X / 2)* Mathf.Cos(Z/ 2) + Mathf.Sin(Y / 2)*Mathf.Sin(X / 2)*Mathf.Sin(Z / 2);        Quaternion quataion = new Quaternion(x, y, z, w);        return quataion;    }}

通过四元数得到欧拉角，最后结果

计算过程中有一点点误差。但要注意万向锁。

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