I am new to this gamedev.net forum that I searched for and found. I searched for angular velocity and quaternion on Google but they did not help so much. I implemented quaternion and angular velocity control (by using keyboard). When I pitch to 90 degrees down, I tried to yaw right but it rolls right instead. At zero Z-axis angle, it normally yaw right or left. I want to rotate at current local axes, not origin axes. My code implementation is:
dr = (angularVelocity * 0.5) * orientation;
orientation += (dr * dt);
Where dt = delta time, dr = delta rotation
Does anyone have different angular velocity/quaternion formula to yaw, pitch, and roll at current local axes?