我注意到Qt库和其他库之间通过quaternion的向量旋转的差异。
这就是Qt的实现。

QQuaternion QQuaternion::fromEulerAngles(float pitch, float yaw, float roll)
{
    // Algorithm from:
    // http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q60

    pitch = qDegreesToRadians(pitch);
    yaw = qDegreesToRadians(yaw);
    roll = qDegreesToRadians(roll);

    pitch *= 0.5f;
    yaw *= 0.5f;
    roll *= 0.5f;

    const float c1 = std::cos(yaw);
    const float s1 = std::sin(yaw);
    const float c2 = std::cos(roll);
    const float s2 = std::sin(roll);
    const float c3 = std::cos(pitch);
    const float s3 = std::sin(pitch);
    const float c1c2 = c1 * c2;
    const float s1s2 = s1 * s2;

    const float w = c1c2 * c3 + s1s2 * s3;
    const float x = c1c2 * s3 + s1s2 * c3;
    const float y = s1 * c2 * c3 - c1 * s2 * s3;
    const float z = c1 * s2 * c3 - s1 * c2 * s3;
}

字符串
这是一个库实现：

void Quaternion_fromEulerZYX(double eulerZYX[3], Quaternion* output)
{
    assert(output != NULL);
    // Based on https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
    double cy = cos(eulerZYX[2] * 0.5);
    double sy = sin(eulerZYX[2] * 0.5);
    double cr = cos(eulerZYX[0] * 0.5);
    double sr = sin(eulerZYX[0] * 0.5);
    double cp = cos(eulerZYX[1] * 0.5);
    double sp = sin(eulerZYX[1] * 0.5);

    output->w = cy * cr * cp + sy * sr * sp;
    output->v[0] = cy * sr * cp - sy * cr * sp;
    output->v[1] = cy * cr * sp + sy * sr * cp;
    output->v[2] = sy * cr * cp - cy * sr * sp;
}

型
注意最后三个字符串。x和y在表达式中具有不同的符号。而Qt函数对应的是常见的Euler angles矩阵乘法，而不是其他库的实现。
所以我很困惑另一个图书馆是如何运作的？因为我使用非Qt库得到了错误的结果。