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Quarternion q = new Quarternion(); Quarternion tq = new Quarternion(); float[] rtemp = new float[3]; public void adjust_rotation(float[] vector) { if (grounded_rotation) { // rotation axis is the cross of the grounded plane normal // and the vector of movement rtemp = vector3d.normalize(vector); axis = vector3d.cross_product(gnormal,rtemp); } // amount of rotation is the length of the vector rangle = vector3d.length(vector)*2; tq.set(rangle, axis); q.multiply(tq); // Note that I don't actually normalize here. // I just added this to this example to show that I am normalizing elsewhere. // I am normalizing after all frame rotations are multiplied together. q.normalize(); }