[ODE] Rotation matrix and Euler Angles - Easy

[Alex Green]

G'day, I used the following code, hope it helps!
-alex

//! Find Roll Pitch and Yaw
// rotation Matrix then convert to Euler Angles
dReal *R = (dReal *) dBodyGetRotation(body->bodyID);
roll  = atan2(R[9], R[10]);	//phi
pitch = asin(-R[8]);		//theta
yaw   = atan2(R[4], R[0]);	//greek Y



Tristan McMillan wrote:
> Hi
> 
> I'm trying to access the euler angles from the rotation matrix and see
> that there is a method to create a rotation matrix from Euler angles,
> dRFromEulerAngles. 
> 
> Is there a method for finding the euler angles directly from a rotation
> matrix. 
> 
> thanks
> Tristan
> 
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