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PhysX rotations

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I know it seems a little odd, but I need to be able to override the Physx rotation on an object periodically (user interaction) how can I set the rotation of a NxActor using 3 floats for x,y,z? here is what I am using but it seems... irratic...probably the last rotation is the only affect I see, but i dont know what rows of the matrix to manipulate.
	virtual void SetRotation(vector3df rot)
		m_Rotation = rot;

		if (m_NxActor)
			NxMat34 pose = m_NxActor->getGlobalPose();

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Hi, i use NxQuat for that:

NxReal Angle;
NxQuat q;


Note that Angle domain [0,360], and NxVec(0,1,0) its for Y axis.

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