# Pattern for extracting euler angles from a rotation matrix

There must be some kind of pattern when converting from one euler angle sequence to another, for example, if I were to convert from ZXY to XYZ (or any other sequence), how would I extract the rotations from the following ZXY rotation matrix:

[ cy * cz - sx * sy * sz    -cx * sz        cz * sy + cy * sx * sz]
[ cz * sx * sy + cy * sz     cx * cz       -cy * cz * sx + sy * sz]
[-cx * sy                    sx             cx * cy               ]


Here's the XYZ rotation matrix (just in case):

[ cy * cz                   -cy * sz                       sy     ]
[ cz * sx * sy + cx * sz     cx * cz - sx * sy * sz       -cy * sx]
[-cx * cz * sy + sx * sz     cz * sx + cx * sy * sz        cx * cy]


I'm only looking for a pattern (not a formula), so I could convert ZXY euler angle sequence to any other euler angle sequence and vice versa. I hope that makes sense.

P.S. I'm not a mathematician.

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have a look at this tutorial: d3cw3dd2w32x2b.cloudfront.net/wp-content/uploads/2012/07/… –  Le Chifre Mar 23 at 11:02