Relax validation of Euler angles

    epsilon = 1e-5f;

    // Euler angles if w == -3

    if ( q.w == -3.0f &&

         ( q.x < -180.0f || 180.0f < q.x    // yaw out of range

           || q.y < -90.0f || 90.0f < q.y   // pitch out of range

           || q.z < -180.0f || 180.0f < q.z // roll out of range

           ) )

    // We only limit pitch range. Yaw and roll can have any value as they safely wrap around.

    if ( q.w == -3.0f && ( q.y < -90.0f || 90.0f < q.y ) )

    {

        return IVAS_ERR_INVALID_QUATERNION;

    }