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function quaternionToEuler(q) {

  var pitch = Math.atan2(2*q.x*q.w - 2*q.y*q.z, 1 - 2*q.x*q.x - 2*q.z*q.z);

  var yaw = Math.asin(2*q.x*q.y + 2*q.z*q.w);

  var roll = Math.atan2(2*q.y*q.w - 2*q.x*q.z, 1 - 2*q.y*q.y - 2*q.z*q.z);

  return [pitch, yaw, roll];

}

//github上找的，不知道行不行 krasjet.github.io/quaternion/

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