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Angle of Rotations from World Transformation matrix

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just combine the 3 rotation matrices (x,y,z)

and extract the information out of the sin, cosine terms in the matrix

the final rotation matrix looks like this
|R11 R12 R13|
|R21 R21 R23| = R = Rz*Ry*Rx
|R31 R32 R33|

Rx(PHI): => R32/R33 = tan(PHI)
Ry(THETA): => R31 = -sin(THETA)
Rz(OMEGA): => R21/R11 = tan(OMEGA)

take care of the special case cos(THETA)=0
tan(x) = sin(x)/cos(x)
sin(x)*sin(x) + cos(x)*cos(x) = 1

don t just pick these formulas, combine the matrix on your own otherwise you will probably fail to understand

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