[ODE] quat to eulerXYZ

[SJS]

> What you probably want is:
> eulers at time A and B -> quats at time A and B -> "delta quat" (qB * ~qA)
> -> axis-angle of delta quat (angle is scalar angular velocity around axis)
>
> the vector form of the instantaneous velocity is (axis*angle) of that
> axis-angle extracted from the delta quaternion.

oops, forgot time-- the angular velocity will be
axis*(angle/(B-A))

SJS

-------------------------
Stephen Schlueter
sschluet at alum.mit.edu
-------------------------