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xDan

euler velocities to angular velocity vector

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How can I convert velocities specified about the x,y,z axes to the conventional way (a vector with magnitude as the speed, as used in physics engines like ODE)?

I want to do this to fit in with the 3d engine I use, which has the convention of using euler angles for most things. Also it's more user friendly to specify angular velocity as euler speeds.

Also, the opposite conversion of the vector-to-euler would be nice too.

Anyone have *code* for this? My maths and understanding of formulas is very bad.

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Found this on google:
http://www.euclideanspace.com/maths/geometry/rotations/conversions/eulerToAngle/index.htm
The opposite conversion is there as well.

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Correct me if I'm wrong, but since that is for rotations not velocities won't it wrap around at 360 degrees?

and I should have mentioned, my rotation is in order pitch,yaw,roll (XYZ).

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