Well I was using Euler matrices because I didn't know any better tool to use. But the link on quaternions you posted, Daniel, sure looks handy. Thank you. Between that and the Euler Secuences doc DH posted I should manage to figure out the proximate problem shortly. I'm wondering though if...
So, I've been fiddling around with a computer game (not the most productive use of my time, I know) and I've come across a problem that seems to have broader mathematical import, and most certainly has been found before, so I thought I'd ask about it here.
Basically I need to rotate an object...