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From: Dave on 23 Jul 2010 20:53
Hey all,

Ken Shoemake wrote a great article about how to convert rotation
matrices to Euler angles, and vice versa:
http://etclab.mie.utoronto.ca/people/david_dir/GEMS/GEMS.html

David Eberley has a similar article:
http://www.geometrictools.com/Documentation/EulerAngles.pdf

This all works great, though I find myself using a lot of quaternions,
rather than matrices, so I end up having to convert quaternion ->
matrix -> euler, which is slow and builds up roundoff.

So, I was wondering if anyone has seen ways to convert directly
between general euler angles and quaternions? Various sources
(wikipedia, euclideanspace) have conversions for one type of euler
angles, but not the general case.

Thanks,

Dave
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