彻底修复欧拉角万向锁问题

修改欧拉角为四元数，彻底修复欧拉角在某些角度方向无法达到的问题

Assets/HandDriver/Scripts/HandDriver.cs

@@ -2,7 +2,7 @@ using NaughtyAttributes;
 using System.Collections.Generic;
 using TouchSocket.Core;
 using UnityEngine;
-//IMU UNITY统一位姿版 2025/12/15 4574验证
+//IMU UNITY彻底修复版 2026/3/3更新
 
 public class HandDriver : MonoBehaviour
 {
@@ -448,26 +448,15 @@ public class HandDriver : MonoBehaviour
         }
     }
 
-    private Quaternion ConvertQuaternion(Quaternion quat, bool isRightHand)
+    private Quaternion ConvertQuaternion(Quaternion q, bool isRightHand)
     {
-
-
-        Quaternion q = new Quaternion(quat.x, quat.y, quat.z, quat.w);
-
-        Vector3 e = q.eulerAngles;
-        // Euler(z, -x, y)
-        Quaternion result = Quaternion.Euler(e.z, -e.x, e.y);
+        // IMU→Unity 坐标轴映射，直接重映射四元数分量
+        // 左手: IMU(X,Y,Z) → Unity(-Y, Z, X)   右手: IMU(X,Y,Z) → Unity(-Y, -Z, -X)
         if (isRightHand)
         {
-            result = Quaternion.Euler(-e.z , -e.x , -e.y );
+            return new Quaternion(-q.z, -q.x, -q.y, q.w);
         }
-        
-        return result;
-        /*
-        Quaternion quat_r = new Quaternion(quat.x, quat.y, quat.z, quat.w);
-        quat_r = Quaternion.Euler(quat_r.eulerAngles.z, -quat_r.eulerAngles.x, quat_r.eulerAngles.y);
-        return quat_r;
-        */
+        return new Quaternion(q.z, -q.x, q.y, q.w);
     }
 
     private void UpdateThumb()