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Once again, I got a question about quaternions.

Say I have an initial rotation Q1. I now want to rotate Q1 on the X and then on the Y axis. BUT: The Y rotation should apply to the local Y axis which was given in Q1.

The problem is:

If i rotate Q1 by the X-rotation Q2, then the Y axis changes for Q1*Q2. So, since quaternion multiplication is noncommutativ, if I then apply the Y-rotation Q3, I don't rotate about the original Y axis of Q1.

How can I rotate quaternions this way?

Greetings!

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# Quaternion local rotation

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