Rotation matrix Quaternion [x, y, z, w] Axis-Angle {[x, y, z], angle(radians)} Axis with angle magnitude(radians)[x, y, z] Euler angles(radians)XYZXZYYXZYZXZXYZYX Details Please note that rotation formats vary. For quaternions, it is not uncommon to denote the real part first. ...
The rotation matrix is easy get from the transform matrix, but be careful. Do not confuse the rotation matrix with the transform matrix. This is an easy mistake to make. When we talk about combining rotation matrices, be sure you do not include the last column of the transform matrix which...