An object has a rotation (α, β, γ) in 3D space, using Euler extrinsic rotation (x–y–z). This object also has an additional rotation (Δα, Δβ, Δγ) in local coordinates.

How can this information be applied to find the new rotation (α, β, γ)?

  • \$\begingroup\$ Composing rotations in Euler angles is somewhat complex. Euler angles are good for serializing an orientation or allowing a human user to read/enter the numbers, but they're quite cumbersome to use in calculating rotations dynamically. Would you consider converting to another format like a quaternion? Then composing two rotations is about as straightforward as multiplication. You can then convert the result back to Euler angles if you prefer that form for storage. \$\endgroup\$
    – DMGregory
    Nov 27 '21 at 12:17

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