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  • thank you, but how do I apply a matrix/quaternion to a vector? Commented Dec 14, 2010 at 2:30
  • For 3x3 rotation matrix M, and column vector V, the rotated vector U is given by the matrix product U = MV. Commented Dec 14, 2010 at 2:39
  • Alright that worked very nicely but it's about -45 degrees off. Any way to fix that? Hmmm, make that -90 degrees off Commented Dec 14, 2010 at 3:03
  • It's hard to say anything more without knowing what your inputs, expected outputs, and observed outputs were. Commented Dec 14, 2010 at 3:37
  • Okay, I got it to work. some other math was off. ^^; Thank you very much for your help. Commented Dec 14, 2010 at 4:48