Is there an equation for conversion from quaternion to euler angles? I could convert quaternions to a matrix but there is ambiguity when converting from a matrix to euler angles (since different euler rotations can represent the same matrix). Can anybody point me in the right direction? I''ve been searching but have yet to find a solution.

mybad, what I mean is from euler angles to quaternions.

Try this link:

www.martinb.com/maths/rotations/conversions/eulerToQuaternion.htm

(FYI, that link was the first result in a google search for the phrase "Euler to quaternion conversion")

Graham Rhodes
Senior Scientist
Applied Research Associates, Inc.