Jedive ODE Wrapper

http://www.blitzbasic.com/codearcs/codearcs.php?code=490
shows how to take a typical quat and convert to blitz euler.

I would prefer this to be done in C++ for speed of course!

Another thing - ODE has a function to convert quat to euler - why isn't this used?

; convert a Quat to a Rotation
Function QuatToEuler(out.Rotation, src.Quat)
	Local sint#, cost#, sinv#, cosv#, sinf#, cosf#
	Local cost_temp#

	sint = (2 * src\w * src\y) - (2 * src\x * src\z)
	cost_temp = 1.0 - (sint * sint)

	If Abs(cost_temp) > QuatToEulerAccuracy
		cost = Sqr(cost_temp)
	Else
		cost = 0
	EndIf

	If Abs(cost) > QuatToEulerAccuracy
		sinv = ((2 * src\y * src\z) + (2 * src\w * src\x)) / cost
		cosv = (1 - (2 * src\x * src\x) - (2 * src\y * src\y)) / cost
		sinf = ((2 * src\x * src\y) + (2 * src\w * src\z)) / cost
		cosf = (1 - (2 * src\y * src\y) - (2 * src\z * src\z)) / cost
	Else
		sinv = (2 * src\w * src\x) - (2 * src\y * src\z)
		cosv = 1 - (2 * src\x * src\x) - (2 * src\z * src\z)
		sinf = 0
		cosf = 1
	EndIf

	; Generate the output rotation
	out\roll = -ATan2(sinv, cosv) ;  inverted due to change in handedness of coordinate system
	out\pitch = ATan2(sint, cost)
	out\yaw = ATan2(sinf, cosf)
End Function

Perhaps this can be converted to C++ and included in the lib?