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I spent a while chasing ways to change my problem to use Euler angles, but the easy solution was actually to just 0 the components of the axis I didn't want, i.e. (in C# Unity script) Vector3 axis = Vector3.Cross(RD, RE); axis.x = CanPitch() ? axis.x : 0.0f; axis.y = CanYaw() ? axis.y : 0.0f; axis.z = CanRoll() ? axis.z : 0.0f; where RD and RE are ...



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