Rotation from 4 points

Hi,

I'm trying to find the pitch, yaw and roll from a group of four points, but just can't do it wright!

The points are the corners of a box..

C
 \
  A--D
 /
B


For a unit box in the origin aligned with the XYZ axis, these are the coordinates of the points:

A(0, 0, 0)
B(0, 0, 1)
C(0, 1, 0)
D(1, 0, 0)


Well, the box may be at any rotation and position, but it's easy to get the points.

How to extract one of these informations:

1 - A quaternion representing the rotation
2 - The pitch, yaw and roll values or
3 - The angles for the rotated axis


Thank you!


Jose




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