[ot][spam][crazy][is it appropriate to direct disruption towards things that have been heavily disrupted?]

[Undiscussed Horrific Abuse, One Victim of Many]

_euler_ angles. not _euclid_ angles. oh those greeks.

https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix

long story short: the full expression of an euler angle matrix is
ridiculous. it makes more sense to either make axial rotation matrices
and combine them, or make rotation about an arbitrary axis.