Conversion between Euler <=> Quaternion like in Unity3d engine

Question

I\'ve used two examples (from this site too), but results are not the same as those that said Unity.

Quaternion.Euler and .eulerAngles are Unity functions. FromQ doe

Answer 1

This question is almost three years old, but I needed the same code and the ones posted here seemed to be incorrect, so I tweaked them and found this:

public static Quaternion Euler(float yaw, float pitch, float roll) {
        yaw*=Mathf.Deg2Rad;
        pitch*=Mathf.Deg2Rad;
        roll*=Mathf.Deg2Rad;

        double yawOver2 = yaw * 0.5f;
        float cosYawOver2 = (float)System.Math.Cos(yawOver2);
        float sinYawOver2 = (float)System.Math.Sin(yawOver2);
        double pitchOver2 = pitch * 0.5f;
        float cosPitchOver2 = (float)System.Math.Cos(pitchOver2);
        float sinPitchOver2 = (float)System.Math.Sin(pitchOver2);
        double rollOver2 = roll * 0.5f;
        float cosRollOver2 = (float)System.Math.Cos(rollOver2);
        float sinRollOver2 = (float)System.Math.Sin(rollOver2);            
        Quaternion result;
        result.w = cosYawOver2 * cosPitchOver2 * cosRollOver2 + sinYawOver2 * sinPitchOver2 * sinRollOver2;
        result.x = sinYawOver2 * cosPitchOver2 * cosRollOver2 + cosYawOver2 * sinPitchOver2 * sinRollOver2;
        result.y = cosYawOver2 * sinPitchOver2 * cosRollOver2 - sinYawOver2 * cosPitchOver2 * sinRollOver2;
        result.z = cosYawOver2 * cosPitchOver2 * sinRollOver2 - sinYawOver2 * sinPitchOver2 * cosRollOver2;

        return result;
}

According to a few quick tests, this matches Quaternion.Euler 100%