   Rotational dilemma
  Hello!I am non a math guru but I'll try to be quite esplicative.I have a quaternion q giving the actual orientation of my object and a rotational velocity expressed with a vector v.v direction expresses the direction of the rotation axis, while v lenght expresses how fast the object spins around v.My dilemma is: How do I update q for the next frame???thank you   
  One way of doing it://PREDICTED ORIENTATION (integrate quaternion)Vector3Axis = CurrentState.mAngularVelocity;doubleLen = Axis.GetLength(); //angular velocity magnitude (radians per second)Axis.Normalize(Len);floatAngle = Len * DT;//angle for a given DT (euler)QuaterniondQ(Axis,Angle);PredictedStateVector.mQuat_Orientation=CurrentState.mQuat_Orientation * dQ;This works fine for an euler integration scheme.  ;  thank you, I'm testing it   