An added complication (as if learning quaternion maths from scratch wasn't enough) is that I'm using scaled scenes, which instantly de-normalise (i.e. make non-unitary) the transformation matrices and quaternions, which have to be normalised (essentially divided by their magnitude) before the incorporated angles can be extracted. The best reference I've found so far (from a google "quaternion" search) is: http://skal.planet-d.net/demo/matrixfaq.htm Has anyone played with this stuff to the point they can usefully share their knowledge?

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