How to properly rotate a quaternion along all axis?

Question

I want to code a first person camera with its rotation stored in a quaternion. Unfortunately there is something wrong with the rotation.

The following function is re

Answer 1

Matrices and pitch/yaw/roll both having their limitations, I do not use them anymore but use instead quaternions. I rotate the view vector and recalculate first the camera vectors, then the view matrix in regard to the rotated view vector.

void Camera::rotateViewVector(glm::quat quat) {

    glm::quat rotatedViewQuat;

    quat = glm::normalize(quat);
    m_viewVector = glm::normalize(m_viewVector);

    glm::quat viewQuat(0.0f,
        m_viewVector.x,
        m_viewVector.y,
        m_viewVector.z);

    viewQuat = glm::normalize(viewQuat);

    rotatedViewQuat = (quat * viewQuat) * glm::conjugate(quat);
    rotatedViewQuat = glm::normalize(rotatedViewQuat);

    m_viewVector = glm::normalize(glm::vec3(rotatedViewQuat.x, rotatedViewQuat.y, rotatedViewQuat.z));
    m_rightVector = glm::normalize(glm::cross(glm::vec3(0.0f, 1.0f, 0.0f), m_viewVector));
    m_upVector = glm::normalize(glm::cross(m_viewVector, m_rightVector));
}