I have recently implemented the quaternion tutorial and everything seemed to be rotating ok until:
I wanted to rotate about the X axis and then on the Z axis. But, when I rotate on the X axis the Z axis changes to being the Y axis and my rotation gets messed up (to compensate I would have to rotate on the Y axis).
I didnt think this was supposed to happen with quaternions? Does anybody know how I can get over this problem as it has been slowly driving me mental.