Quaternions Test

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Bobysait

Ok??? I think, the mistake is in the QUA_EulerToQuat function...

I replaced with


Function QUA_EulerToQuat2(Pitch#, Yaw#, Roll#)
	
	Pitch# = Pitch# / 2.0
	Yaw#   = Yaw#   / 2.0
	Roll#  = Roll#  / 2.0
	
	Cos_Pitch# = Cos(Pitch#)
	Cos_Yaw#   = Cos(Yaw#)
	Cos_Roll#  = Cos(Roll#);
	
	Sin_Pitch# = Sin(Pitch#)
	Sin_Yaw#   = Sin(Yaw#)
	Sin_Roll#  = Sin(Roll#);
	
	CpCy# = Cos_Pitch# * Cos_Yaw#
	SpSy# = Sin_Pitch# * Sin_Yaw#
	SpCy# = Sin_Pitch# * Cos_Yaw#
	CpSy# = Cos_Pitch# * Sin_Yaw#

	q.QUA_Quat=Last QUA_Quat
	If q=Null q=New QUA_Quat

	q\z = ((Sin_Roll# * CpCy#) - (Cos_Roll# * SpSy#))*-1
	q\x = ((Cos_Roll# * SpCy#) + (Sin_Roll# * CpSy#))*-1
	q\y = (Cos_Roll# * CpSy#) - (Sin_Roll# * SpCy#)
	q\w = (Cos_Roll# * CpCy#) + (Sin_Roll# * SpSy#)

End Function

and it seems to walk right

... Of course, it does not explain why 3 codes for getting Euler from Quat return 3 different values