matrix - JavaFX 8 Transform to pitch, yaw and roll rotation angles -

implementing answer this thread have code translates deltayaw, deltaroll , deltapitch angles 1 angle , rotates node around it. angles taken parameters momentary changes of angles since giving whole angles ignore changes in orientation.

    public static void matrixrotate(group n, double deltaroll, double deltapitch, double deltayaw){         double a11 = math.cos(deltaroll)*math.cos(deltayaw);     double a12 = math.cos(deltapitch)*math.sin(deltaroll)+math.cos(deltaroll)*math.sin(deltapitch)*math.sin(deltayaw);     double a13 = math.sin(deltaroll)*math.sin(deltapitch)-math.cos(deltaroll)*math.cos(deltapitch)*math.sin(deltayaw);     double a21 =-math.cos(deltayaw)*math.sin(deltaroll);     double a22 = math.cos(deltaroll)*math.cos(deltapitch)-math.sin(deltaroll)*math.sin(deltapitch)*math.sin(deltayaw);     double a23 = math.cos(deltaroll)*math.sin(deltapitch)+math.cos(deltapitch)*math.sin(deltaroll)*math.sin(deltayaw);     double a31 = math.sin(deltayaw);     double a32 =-math.cos(deltayaw)*math.sin(deltapitch);     double a33 = math.cos(deltapitch)*math.cos(deltayaw);      double d = math.acos((a11+a22+a33-1d)/2d);     if(d!=0d){         double den=2d*math.sin(d);         point3d p= new point3d((a32-a23)/den,(a13-a31)/den,(a21-a12)/den);         rotate r = new rotate();         r.setaxis(p);         r.setangle(math.todegrees(d));         n.gettransforms().add(r);         transform = n.getlocaltoscenetransform();         n.gettransforms().clear();         n.gettransforms().add(all);                    } } 

(i'm using rotate because need rotate object around origin, not center)

now creates problem i'm no longer able actual pitch, roll , yaw angles.

i used keep track of them (which doesn't take account changing orientation):

roll +=deltaroll; pitch += deltapitch; yaw += deltayaw; 

and later i've come this, bit more accurate, doesn't track changes occur if angles not directly modified(inserted after n.gettransforms().add(all) in main snippet):

roll+= math.todegrees(d)*((a32-a23)/den); pitch += math.todegrees(d)*((a13-a31)/den); yaw += math.todegrees(d)*((a21-a12)/den);   

i've been searching around solutions , found this answer supposed give angle final transform haven't been able working angles.

double xx = n.getlocaltoscenetransform().getmxx(); double xy = n.getlocaltoscenetransform().getmxy(); double roll = math.atan2(-xy, xx); 

again i'm trying full angles (composited out of transforms made delta angles in different orientations) relative scene's coodrdinate system. i'm bad @ great.

if want pitch, yaw , roll angles @ stage after several rotations, can them transformation matrix of 3d model.

if have @ transformation matrix after several rotations:

transform t = model3d.getlocaltoscenetransform(); system.out.println(t); 

you'll see this:

transform [         0.9034731871219395, -0.4260296991535005, -0.04727468234587054, 1.4044414829046357         0.3743586809560477, 0.837958815679334, -0.39709016761704913, 0.5234811188037405         0.2087864414768669, 0.3410626315861443, 0.9165612381019399, -1.1277640590168572     ] 

if want angles, need compare matrix 1 answer:

as have stated, roll angle can use t.getmxx() , t.getmyx():

double roll = math.atan2(-t.getmyx(),t.getmxx()); 

now, pitch, can use t.getmzy() , t.getmzz() in same way:

double pitch = math.atan2(-t.getmzy(),t.getmzz()); 

finally, yaw, use t.getmzx(), t.getmzy() , t.getmzz():

double yaw = math.atan2(t.getmzx(),math.sqrt(t.getmzy()*t.getmzy()+t.getmzz()*t.getmzz())); 

this give above matrix angles looking (in radians):

roll: -0.39281984604895126 pitch: -0.356235553820928 yaw: 0.21033388848106072