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Extraction of Euler angles from a 4x3 matrix?

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Hi, How can I extract Euler angles for ptich yaw and roll from a combined 4x3 rotation matrix? I'm not sure if it's a column or row major matrix - it's returned by ODE if any one has any experience with that. Thanks! aCiD2

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I guess that matrix have 3x3 rotation matrix in top-left corner.
Extract from it just like from any other, in case result is wrong, try transposing it...

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