https://stackoverflow.com/questions/15022630/how-to-calculate-the-angle-from-roational-matrix
http://www.staff.city.ac.uk/~sbbh653/publications/euler.pdf
https://stackoverflow.com/questions/15022630/how-to-calculate-the-angle-from-roational-matrix
http://www.staff.city.ac.uk/~sbbh653/publications/euler.pdf