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struct Quaternion
{
    float w;
    float x;
    float y;
    float z;
};

struct Euler
{
    float x;
    float y;
    float z;
};

Quaternion ReturnQuat;
Euler ReturnEuler;

void PointLimb(int obj, int limb, float px, float py, float pz);
void Limb_SetDirection(int obj, int limb, float ax, float ay, float az);
void QuatConjugate(Quaternion q);
void EulerToQuat(Euler Rotation);
void QuatToEuler(Quaternion Rotation);
void QuatMult(Quaternion Angle, Quaternion Rotation);

void PointLimb(int obj, int limb, float px, float py, float pz)
{
	if (dbObjectExist(obj)==0) { return; }
	if (dbLimbExist(obj,limb)==0) { return; }

	float t_ax=dbObjectAngleX(obj); float t_ay=dbObjectAngleY(obj); float t_az=dbObjectAngleZ(obj); dbPointObject(obj,px,py,pz);
	float ax=dbObjectAngleX(obj);float  ay=dbObjectAngleY(obj); float az=dbObjectAngleZ(obj);
	dbRotateObject(obj,t_ax,t_ay,t_az);
	Limb_SetDirection(obj,limb,ax,ay,az);
}

void Limb_SetDirection(int obj, int limb, float ax, float ay, float az)
{
	if (dbObjectExist(obj)==0) { return; }
	if (dbLimbExist(obj,limb)==0) { return; }
	if (ax==0) { ax += 0.0000001; }
	if (ay==0) { ay += 0.0000001; }
	if (az==0) { az += 0.0000001; }

	Euler e;
	Quaternion q1;
	Quaternion q2;
	Quaternion q3;
	e.x=dbObjectAngleX(obj);
	e.y=dbObjectAngleY(obj);
	e.z=dbObjectAngleZ(obj);
	EulerToQuat(e); q1=ReturnQuat;
	QuatConjugate(q1); q1=ReturnQuat;

	e.x=ax; e.y=ay; e.z=az;
	EulerToQuat(e); q2=ReturnQuat;
	QuatMult(q2,q1); q3=ReturnQuat;
	QuatToEuler(q3);
	dbRotateLimb(obj,limb,ReturnEuler.x,ReturnEuler.y,ReturnEuler.z);
}

void QuatConjugate(Quaternion q)
{
   ReturnQuat.w=q.w;
   ReturnQuat.x=q.x*-1;
   ReturnQuat.y=q.y*-1;
   ReturnQuat.z=q.z*-1;
}

void EulerToQuat(Euler Rotation)
{
    float SRX;
    float CRX;
    float SRY;
    float CRY;
    float SRZ;
    float CRZ;
    Rotation.x = Rotation.x/2;
    Rotation.y = Rotation.y/2;
    Rotation.z = Rotation.z/2;
    SRX = dbSin(Rotation.x);
    CRX = dbCos(Rotation.x);
    SRY = dbSin(Rotation.y);
    CRY = dbCos(Rotation.y);
    SRZ = dbSin(Rotation.z);
    CRZ = dbCos(Rotation.z);
    ReturnQuat.w = CRX*CRY*CRZ +  SRX*SRY*SRZ;
    ReturnQuat.x = SRX*CRY*CRZ -  CRX*SRY*SRZ;
    ReturnQuat.y = CRX*SRY*CRZ +  SRX*CRY*SRZ;
    ReturnQuat.z = CRX*CRY*SRZ -  SRX*SRY*CRZ;
}

void QuatToEuler(Quaternion Rotation)
{
    ReturnEuler.x = dbATANFULL((2*(Rotation.w*Rotation.x + Rotation.y*Rotation.z)),(1 - 2*(Rotation.x*Rotation.x + Rotation.y*Rotation.y)));
    ReturnEuler.y = dbASIN(2*(Rotation.w*Rotation.y - Rotation.z*Rotation.x));
    ReturnEuler.z = dbATANFULL((2*(Rotation.w*Rotation.z + Rotation.x*Rotation.y)),(1 - 2*(Rotation.y*Rotation.y + Rotation.z*Rotation.z)));
}

void QuatMult(Quaternion Angle, Quaternion Rotation)
{
    ReturnQuat.x =  Rotation.x * Angle.w + Rotation.y * Angle.z - Rotation.z * Angle.y + Rotation.w * Angle.x;
    ReturnQuat.y = (0-Rotation.x) * Angle.z + Rotation.y * Angle.w + Rotation.z * Angle.x + Rotation.w * Angle.y;
    ReturnQuat.z =  Rotation.x * Angle.y - Rotation.y * Angle.x + Rotation.z * Angle.w + Rotation.w * Angle.z;
    ReturnQuat.w = (0-Rotation.x) * Angle.x - Rotation.y * Angle.y - Rotation.z * Angle.z + Rotation.w * Angle.w;
}

//Rotate Player's Head Through Neck
			int p = dbPickObject(dbMouseX(),dbMouseY(),1,qGetFreeObjectID()-1);
			if(p==0)
			{
				dbHideObject(ntom);
			}
			else
			{
				float pd = dbGetPickDistance();
				float px = dbGetPickVectorX();
				float py = dbGetPickVectorY();
				float pz = dbGetPickVectorZ();
				float wx = px+dbCameraPositionX();
				float wy = py+dbCameraPositionY();
				float wz = pz+dbCameraPositionZ();
				dbShowObject(ntom);
				dbPositionObject(ntom,wx,wy,wz);
				PointLimb(id,neckLimb,wx,wy,wz);
			}

D3DXVECTOR3 getAngleVec(D3DXVECTOR3 pos1, D3DXVECTOR3 pos2){
	D3DXVECTOR3 resultVec(0.0f, 0.0f, 0.0f);
	D3DXVECTOR3 v1 = pos1 - pos2;
    float distance = sqrt(v1.x*v1.x + v1.y*v1.y + v1.z*v1.z);
	//FIND X angle
	resultVec.x = -dbASIN(v1.y / distance); 
	//FIND Y angle
	resultVec.y = dbACOS(v1.x / (distance * dbCos(resultVec.x)));
    //Z not needed
    return resultVec;
}

    D3DXVECTOR3 v1 = D3DXVECTOR3(dbObjectPositionX(5), dbObjectPositionY(5), dbObjectPositionZ(5));
    D3DXVECTOR3 v2 = D3DXVECTOR3(dbObjectPositionX(4), dbObjectPositionY(4), dbObjectPositionZ(4));

	D3DXVECTOR3 vAngle = getAngleVec(v1, v2);

    float X = centerX + radius*cos(angleY)*cos(angleX)
    float Y = centerY - radius*sin(angleX)
    float Z = centerZ + radius*sin(angleY)*cos(angleX)

//Rotate Player's Head Through Neck

		float oldx = dbCameraPositionX();
		float oldy = dbCameraPositionY();
		float oldz = dbCameraPositionZ();
		dbMoveCamera( 2000 );
		float x = dbCameraPositionX();
		float y = dbCameraPositionY();
		float z = dbCameraPositionZ();
		dbMoveCamera( -2000 );
		
		int collide = SC_RayCastGroup( 1, oldx,oldy,oldz, x,y,z, 0 );
		
		if ( collide > 0 )
		{
			float newx = SC_GetStaticCollisionX();
			float newy = SC_GetStaticCollisionY();
			float newz = SC_GetStaticCollisionZ();

			float normx = SC_GetCollisionNormalX();
			float normy = SC_GetCollisionNormalY();
			float normz = SC_GetCollisionNormalZ();
			
			dbPositionObject( ntom, newx + normx/10.0f, newy + normy/10.0f, newz + normz/10.0f );
			dbPointObject( ntom, newx + normx, newy + normy, newz + normz );
			
			PointLimb(id,neckLimb,newx + normx/10.0f, newy + normy/10.0f, newz + normz/10.0f);
		}