I know that this has to be around somewhere, but I must not be searching in the right places.

I need to find a way to convert - essentially, I think - rotation angles into a rotation matrix, and vice-versa.

I think I’m essentially asking about Euler angles here, but not quite sure. I also recall somewhere saying that extracting angles from the matrix is more difficult.

Note: I’m trying to accomplish a save-state for accumulated rotations, but I don’t believe that I want to store the whole matrix. Secondly, all rotations will be occurring - locally at least - along only the X and Y axises. However, as you begin to accumulate rotations, the object’s Z axis will become involved.

Please note, I am not at all interested in using quaternions for the solution to this problem. Don’t even suggest them. This must be an angle/matrix based solution.

Thanks!

Siwko