c++ to Blueprint 6DoF Fixing Gimbal Lock

public:

    // Convert Euler Rotations To Quaternions
    UFUNCTION(BlueprintCallable, meta = (DisplayName = "Euler To Quaternion", Keywords = "rotation, quaternion"), Category = "Quaternion Rotation")
        static FQuat Euler_To_Quaternion(FRotator Current_Rotation);

    // Function to set world rotation of scene component to input quaternion rotation
    UFUNCTION(BlueprintCallable, meta = (DisplayName = "Set World Rotation (Quaternion)", Keywords = "rotation, quaternion"), Category = "Quaternion Rotation")
        static void SetWorldRotationQuat(USceneComponent* SceneComponent, const FQuat& Desired_Rotation);

    // Function to set relative rotation of scene component to input quaternion rotation
    UFUNCTION(BlueprintCallable, meta = (DisplayName = "Set Relative Rotation (Quaternion)", Keywords = "rotation, quaternion"), Category = "Quaternion Rotation")
        static void SetRelativeRotationQuat(USceneComponent* SceneComponent, const FQuat& Desired_Rotation);

    // Function to add delta rotation to current local rotation of scene component
    UFUNCTION(BlueprintCallable, meta = (DisplayName = "Add Local Rotation (Quaternion)", Keywords = "rotation, quaternion"), Category = "Quaternion Rotation")
        static void AddLocalRotationQuat(USceneComponent* SceneComponent, const FQuat& Delta_Rotation);

    // Function to set world rotation of Actor to input quaternion rotation
    UFUNCTION(BlueprintCallable, meta = (DisplayName = "Set Actor World Rotation (Quaternion)", Keywords = "rotation, quaternion"), Category = "Quaternion Rotation")
        static void SetActorWorldRotationQuat(AActor* Actor, const FQuat& Desired_Rotation);

    // Function to set relative rotation of Actor to input quaternion rotation
    UFUNCTION(BlueprintCallable, meta = (DisplayName = "Set Actor Relative Rotation (Quaternion)", Keywords = "rotation, quaternion"), Category = "Quaternion Rotation")
        static void SetActorRelativeRotationQuat(AActor* Actor, const FQuat& Desired_Rotation);

    // Function to add delta rotation to current local rotation of Actor
    UFUNCTION(BlueprintCallable, meta = (DisplayName = "Add Actor Local Rotation (Quaternion)", Keywords = "rotation, quaternion"), Category = "Quaternion Rotation")
        static void AddActorLocalRotationQuat(AActor* Actor, const FQuat& Delta_Rotation);



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// Formula to convert a Euler angle in degrees to a quaternion rotation
FQuat UMyFunctionName::Euler_To_Quaternion(FRotator Current_Rotation)
{
    FQuat q;                                            // Declare output quaternion
    float yaw = Current_Rotation.Yaw * PI / 180;        // Convert degrees to radians
    float roll = Current_Rotation.Roll * PI / 180;
    float pitch = Current_Rotation.Pitch * PI / 180;

    double cy = cos(yaw * 0.5);
    double sy = sin(yaw * 0.5);
    double cr = cos(roll * 0.5);
    double sr = sin(roll * 0.5);
    double cp = cos(pitch * 0.5);
    double sp = sin(pitch * 0.5);

    q.W = cy * cr * cp + sy * sr * sp;
    q.X = cy * sr * cp - sy * cr * sp;
    q.Y = cy * cr * sp + sy * sr * cp;
    q.Z = sy * cr * cp - cy * sr * sp;

    return q;                                           // Return the quaternion of the input Euler rotation
}

// Set the scene component's world rotation to the input quaternion
void UMyFunctionName::SetWorldRotationQuat(USceneComponent* SceneComponent, const FQuat& Desired_Rotation)
{
    if (SceneComponent)
    {
        SceneComponent->SetWorldRotation(Desired_Rotation);
    }
}

// Set the scene component's relative rotation to the input quaternion
void UMyFunctionName::SetRelativeRotationQuat(USceneComponent* SceneComponent, const FQuat& Desired_Rotation)
{
    if (SceneComponent)
    {
        SceneComponent->SetRelativeRotation(Desired_Rotation);
    }
}

// Add the input delta rotation to the scene component's current local rotation
void UMyFunctionName::AddLocalRotationQuat(USceneComponent* SceneComponent, const FQuat& Delta_Rotation)
{
    if (SceneComponent)
    {
        SceneComponent->AddLocalRotation(Delta_Rotation);
    }
}

// Set the Actor's world rotation to the input quaternion
void UMyFunctionName::SetActorWorldRotationQuat(AActor* Actor, const FQuat& Desired_Rotation)
{
    if (Actor)
    {
        Actor->SetActorRotation(Desired_Rotation);
    }
}

// Set the Actor's relative rotation to the input quaternion
void UMyFunctionName::SetActorRelativeRotationQuat(AActor* Actor, const FQuat& Desired_Rotation)
{
    if (Actor)
    {
        Actor->SetActorRelativeRotation(Desired_Rotation);
    }
}

// Add the input delta rotation to the Actor's current local rotation
void UMyFunctionName::AddActorLocalRotationQuat(AActor* Actor, const FQuat& Delta_Rotation)
{
    if (Actor)
    {
        Actor->AddActorLocalRotation (Delta_Rotation);
    }
}