Hi VK,

Thanks for your post.

I'm a professor of mathematics, so it took me some time before I understood that CG people used three axes when they talked about Euler angles!

To me its natural to think in terms of DOFs, and think of the rotation order as how you parametrize an arbitrary rotation and break it into a sequence of rotations. At first I was confused by how "simple" rotations about one axis could cause problems, but then I realized that if you use global coordinates, your starting point may already be in a gimbal lock position.

I liked your picture!

Helmer