Creates a set of Euler angles from the rotation components of a 4x4 matrix. The
rotation components are represented by the upper 3x3 of the matrix.
Note that there are two solutions for the Euler angle of the 2nd applied
rotation (i.e. y for xyz) because sin(theta) = sin(PI-theta).
The returned angle will always be the solution between -PI/2 and PI/2.
Creates a set of Euler angles from the rotation components of a 4x4 matrix. The rotation components are represented by the upper 3x3 of the matrix.
Note that there are two solutions for the Euler angle of the 2nd applied rotation (i.e. y for xyz) because sin(theta) = sin(PI-theta). The returned angle will always be the solution between -PI/2 and PI/2.