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You shouldn't use a rotation angles if you can avoid it.* They are a bad representation of directions. If you choose to use them, you will need an inverse trig function. Instead of storing theta, store the pair (cos(theta), sin(theta)). You can combine rotations and directions using the multiplication rules of complex numbers, i.e. (a,b) * (c,d) = (ac - ...


I avoid Euler angles in aircraft pitch, roll, yaw orientations because aircraft rotate about thier local axis and trying to resolve this to Euler angles about the world (or global) axis adds uneccesary complication to the code. Instead of 3 Euler angles, I store the current orientation as a matrix or quat and simply modify the matrix/quat depending on input ...

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