is there a way to extract rotational angles from a given quaternion? much like an euler (quaternion get).

or maybe i am just thinking too complicated. I want to rotate a 3-d object freely and consequtively in space much like in real life: a rotation to the left should go left, no matter the current angulation of the object. and one to the top should go to the top.

my attempt was to framedelay the quaternion of the current position and multiply it with the quaternion of the movement. however, i don’t seem to be able to put it into a matrix transform.