David Megginson writes:
> 
> I've thought of a simpler way to approach this problem.  Let's say
> that I have a plane and the three Euler angles of rotation, phi,
> theta, and psi (roll, pitch, and yaw).  Given those three angles, I'd
> like to determine which direction around the z axis is most directly
> uphill and how steep the hill is.

see
sgEulerToQuat( sgQuat quat, const sgVec3 hpr ) ;

HTH

Norman

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