implementation of Euler2Quat

    IVAS_QUATERNION *quat  /* o  : quaternion describing the rotation  */

)

{

    // @TODO implementation here

    quat->w = -3.0f;

    quat->x = yaw;

    quat->y = pitch;

    quat->z = roll;

    float cr = cos( roll * 0.5f );

    float sr = sin( roll * 0.5f );

    float cp = cos( pitch * 0.5f );

    float sp = sin( pitch * 0.5f );

    float cy = cos( yaw * 0.5f );

    float sy = sin( yaw * 0.5f );

    quat->w = cr * cp * cy + sr * sp * sy;

    quat->x = sr * cp * cy - cr * sp * sy;

    quat->y = cr * sp * cy + sr * cp * sy;

    quat->z = cr * cp * sy - sr * sp * cy;

    return;

}