I know this is rather trivial question but it's not homework!(adsbygoogle = window.adsbygoogle || []).push({});

I need this as part of a bigger project.

What I have to do is rotate my reference frame to another one. I want my new z-axis to be a vector Z=(Z1,Z2,Z3)

Following the notation of this wikipage:

http://en.wikipedia.org/wiki/Euler_angles

all I need to do is compute the Euler angles, however, I don't manage to get Y3 and therefore the last angle, gamma.

Can you please help?

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# How to get Euler angles

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