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Rotation formalisms in three dimensions
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Quaternion
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Conversion between quaternions and Euler angles
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Wikipedia Links
http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q60
Anchor text: Q60. How do I convert Euler rotation angles to a quaternion?
http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q36
Anchor text: Q36. How do I generate a rotation matrix from Euler angles?
http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q37
Anchor text: Q37. How do I convert a rotation matrix to Euler angles?