freeware http://www.mat.ucsb.edu/~wakefield/soft/ http://www.mat.ucsb.edu/~wakefield/soft/quat_release.zip			Quaternion helper objects. Convert between quaternion, Euler, cartesian and axis/angle representations.
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axis2quat	External		Convert an axis/angle rotation (e.g. the output of jit.gl.handle) to quaternion
euler2quat	External		Convert Euler rotations (azimuth/elevation/tilt or heading/attitude/bank or yaw/pitch/roll) to quaternion
quat	External		"Represent, store and transform a quaternion"
quat2axis	External		Convert quaternion to axis/angle rotation (e.g. most jit.gl rotate arguments)
quat2car	External		Select a unit vector in the quaternion rotation
quat2euler	External		Convert quaternion to Euler angles (azimuth/elevation/tilt or heading/attitude/bank or yaw/pitch/roll). NOTE: there is a loss of information in the conversion from quaternion to Euler angles. This behaviour is matched by the original Shoemake algorithm.
quatpov	External		Rotate a cartesian point by a quaternion
xyz2aed	External		"Utility to convert a relative x,y,z vector to azimuth, elevation Euler angles and distance"
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