Proper conversion between Quaternions and Spherical Rotation Coordinates?
问题 I'm learning about more quaternion conversions and I have a question regarding quaternion to spherical rotation conversion code at the following section of this website: http://web.archive.org/web/20041029003853/http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q59 What are angle and sin_angle in this code supposed to be? Angle is never used so I was guessing it's the rotation angle. Is sin_angle supposed to be sin_a? If this was a function returning an array of float with the spherical