Code:
void getEulerFromQuat(osg::Quat q, double& heading, double& attitude, double&
bank)
{
double limit = 0.499999;
double sqx = q.x()*q.x();
double sqy = q.y()*q.y();
double sqz = q.z()*q.z();
double t = q.x()*q.y() + q.z()*q.w();
if (t>limit) // gimbal lock?
{
heading = 2 * atan2(q.x(),q.w());
attitude = osg::PI_2;
bank = 0;
}
else if (t<-limit)
{
heading = -2 * atan2(q.x(),q.w());
attitude = - osg::PI_2;
bank = 0;
}
else
{
heading = atan2(2*q.y()*q.w()-2*q.x()*q.z() , 1 - 2*sqy -
2*sqz);
attitude = asin(2*t);
bank = atan2(2*q.x()*q.w()-2*q.y()*q.z() , 1 - 2*sqx - 2*sqz);
}
}
------------------
Read this topic online here:
http://forum.openscenegraph.org/viewtopic.php?p=43903#43903
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