This is an implementation using quaterniones of a world with objects with 3 levels of freedom.
Download it at this link.
Camera:
Up: I
Down: K
Left: J
Right: L
Backward: H
Forwad: Y
Speed+: T
Speed-: G
Pitch right: D
Pitch left: A
Yaw up: W
Yaw down: S
Roll right: X
Roll left: Y
Triangle:
Speed+: Arrow up
Speed-: Arrow down
Pitch right: Arrow right
Pitch left: Arrow left
Yaw up: N
Yaw down: B
Roll right: V
Roll left: C
