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Axis rotation / Airplane rotation how?!

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I like to create a airplane simulation demo to test my engine, but I have some problems to rotate the model (yaw, roll, pitch), how I calculate the yaw, roll and pitch, or how can I rotate the axis?! How can I do this?! Thanks!!!

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i would allso like to know the exact formula, i had it once and know it took me about a day to figure it out, but i lost it for some reason.

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I found how: http://www.gamedev.net/community/forums/topic.asp?topic_id=308952

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