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Motion Capture File Format (with Quaternion)

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Hi, I am making a program to edit motion capture data using Visual C++. I am using BVH files as input files, and I converted the rotation data from those BVH Files, which has ZXY Euler Angle rotation format, into quaternions. After editing, I would like to be able to save the output as BVH files too, but I am having trouble converting the quaternions back into ZXY Euler angles. I am currently using the source code from Dave Eberly's site to convert it back (Matrix3 class), but I think it isn't accurate enough. Or perhaps my implementation is not correct since I am using left handed coordinate system (DirectX), and that source code is using right handed one. I tried to convert my data into right handed system though, but it still didn't work. The way I did it was by transforming my LH matrix into RH matrix: mat._13 = - mat._13; mat._23 = - mat._23; mat._31 = - mat._31; mat._32 = - mat._32; with 1 is the first column/row index and then use Dave Eberly's code. and then convert RH Euler rotations into LH Euler rotations by negating X and Y components. Another option would be to use a motion capture file format with quaternion values inside that file format, but I don't know if such file format even exists. I am wondering if someone could point me to the right direction? Sindharta T.

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