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yet another quat/matrix rotation question

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Howdy ... I''m a 3D newbie and I''m working on a joystick controlled model viewer. I started of using Eulers and have learned about the drawbacks. I reimplemented the code using quaternions but i still didnt get the desired results. I think what I want is to rotate my models coordinate system relative to the world ... rather than rotate the model relative to it''s coordinate system. Imagine a winged spaceship model facing directly into the screen, looking at the engines. I want to rotate it about Y 90 degrees. Now looking at its side, i want to rotate about X and see the pitch of the ship change. What I get is the ship rolling about Z because the model has been rotate within its own coordinate system....I think ... Am I on crack? So where is my thinking going wrong on this????

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quaternion multiplication is not commutative. Maybe you multiplied them in the wrong order (I suppose you use multiplication). So if you did a*b try b*a instead, and you might get what you want...

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