These videos explain the gimbal lock problem when using Euler angles:
Links to some implementations:
https://github.com/MartinWeigel/Quaternion/blob/master/Quaternion.c
https://github.com/afqueiruga/quaternion.h/blob/master/quaternion.c
These videos explain the gimbal lock problem when using Euler angles:
Links to some implementations:
https://github.com/MartinWeigel/Quaternion/blob/master/Quaternion.c
https://github.com/afqueiruga/quaternion.h/blob/master/quaternion.c