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quaternion/axis-angle to euler conversion

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How do i go about converting a quaternion or an axis-angle rotation to a euler(x,y,z) rotation? Thanks in advance, Rohan

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You can find this sort of thing all over the web with Google. This is one page I found in 3 whole seconds.

There are actually multiple Euler angle rotations equivalent to the same quaternion (depending on the order the the yaw, pitch, and roll are done) but for your purposes I doubt it will matter.

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This is very helpful

http://www.flipcode.com/documents/matrfaq.html

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