Attached is a file with formulas for 3D rotations transformations.
It can be used as a "snippet" (copy it in the "snippets" folder).

Currently supported conversions:
Euler angles to quaternions
Quaternions to rotation matrix
Euler angles to rotation matrix
Angle & vector to rotation matrix
Angle & vector to quaternions
Quaternions to Euler angles
Quaternions to angle & vector
Rotation Matrix to quaternions

For those unfamiliar on the matter, a comprehensive article is found here:
Review of Attitude Representations

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Rotation Examples.sm (98 KiB) downloaded 190 time(s).

Thank you very much for your comments.

Wrote

For practical wider interest, please include, if possible, also the "Euler–Rodrigues Quaternion Formulation".

The AngVec2Quat and Quat2AngVec functions are intended to perform Euler-Rodriguez to Quaternion conversion and vice-versa, respectively: i.e. the Angle-Vector parameters correspond to the Euler-Rodriguez representation of rotations.

Best regards,

massimo