diff --git a/EgtExecutor.rc b/EgtExecutor.rc
index 771f4b7..54e0984 100644
Binary files a/EgtExecutor.rc and b/EgtExecutor.rc differ
diff --git a/LUA_GeoBase.cpp b/LUA_GeoBase.cpp
index 242d8e6..8f8f8c2 100644
--- a/LUA_GeoBase.cpp
+++ b/LUA_GeoBase.cpp
@@ -530,6 +530,83 @@ LuaBBoxLocToLoc( lua_State* L)
    }
 }
 
+//-------------------------------------------------------------------------------
+static int
+LuaQuaternionFromAxisAngle( lua_State* L)
+{
+  // 2 parametri : vtAx, dAngDeg
+   Vector3d vtAx ;
+   LuaCheckParam( L, 1, vtAx)
+   double dAngDeg ;
+   LuaCheckParam( L, 2, dAngDeg)
+   LuaClearStack( L) ;
+  // calcolo il quaternione che produce la rotazione equivalente
+   Quaternion qtQ = FromAxisAngle( vtAx, dAngDeg) ;
+   if ( ! qtQ.IsSmall())
+      LuaSetParam( L, qtQ) ;
+   else
+      LuaSetParam( L) ;
+   return 1 ;
+}
+
+//-------------------------------------------------------------------------------
+static int
+LuaQuaternionToAxisAngle( lua_State* L)
+{
+  // 1 parametro : Quaternion
+   Quaternion qtQ ;
+   LuaCheckParam( L, 1, qtQ)
+   LuaClearStack( L) ;
+  // calcolo l'asse e l'angolo di rotazione equivalenti
+   Vector3d vtAx ;
+   double dAngDeg ;
+   bool bOk = ToAxisAngle( qtQ, vtAx, dAngDeg) ;
+   if ( bOk) {
+      LuaSetParam( L, vtAx) ;
+      LuaSetParam( L, dAngDeg) ;
+      return 2 ;
+   }
+   else {
+      LuaSetParam( L) ;
+      return 1 ;
+   }
+}
+
+//-------------------------------------------------------------------------------
+static int
+LuaQuaternionFromFrame( lua_State* L)
+{
+  // 1 parametro : Frame
+   Frame3d frFrame ;
+   LuaCheckParam( L, 1, frFrame)
+   LuaClearStack( L) ;
+  // calcolo il quaternione che produce l'orientamento di questo frame tramite rotazione dal globale
+   Quaternion qtQ = FromFrame( frFrame) ;
+   if ( ! qtQ.IsSmall())
+      LuaSetParam( L, qtQ) ;
+   else
+      LuaSetParam( L) ;
+   return 1 ;
+}
+
+//-------------------------------------------------------------------------------
+static int
+LuaQuaternionToFrame( lua_State* L)
+{
+  // 1 parametro : Quaternion
+   Quaternion qtQ ;
+   LuaCheckParam( L, 1, qtQ)
+   LuaClearStack( L) ;
+  // calcolo il frame equivalente come orientamento a quello globale ruotato dal quaternione
+   Frame3d frFrame ;
+   bool bOk = ToFrame( qtQ, frFrame) ;
+   if ( bOk)
+      LuaSetParam( L, frFrame) ;
+   else
+      LuaSetParam( L) ;
+   return 1 ;
+}
+
 //-------------------------------------------------------------------------------
 bool
 LuaInstallGeoBase( LuaMgr& luaMgr)
@@ -557,5 +634,9 @@ LuaInstallGeoBase( LuaMgr& luaMgr)
    bOk = bOk && luaMgr.RegisterFunction( "EgtBBoxToGlob", LuaBBoxToGlob) ;
    bOk = bOk && luaMgr.RegisterFunction( "EgtBBoxToLoc", LuaBBoxToLoc) ;
    bOk = bOk && luaMgr.RegisterFunction( "EgtBBoxLocToLoc", LuaBBoxLocToLoc) ;
+   bOk = bOk && luaMgr.RegisterFunction( "EgtQuaternionFromAxisAngle", LuaQuaternionFromAxisAngle) ;
+   bOk = bOk && luaMgr.RegisterFunction( "EgtQuaternionToAxisAngle", LuaQuaternionToAxisAngle) ;
+   bOk = bOk && luaMgr.RegisterFunction( "EgtQuaternionFromFrame", LuaQuaternionFromFrame) ;
+   bOk = bOk && luaMgr.RegisterFunction( "EgtQuaternionToFrame", LuaQuaternionToFrame) ;
    return bOk ;
 }