obtaining an axis rotation from a matrix

from the final matrix,

x rotation is inverse sin of m23

y rotation is inverse sin of m31

z rotation is inverse sin of m12

x translation is m41

y translation is m42

z translation is m43

inverse sin is a derived function, like so:

gz_object(ll_new).ms_w_rotx = Atn(lmat_world.m23 / Sqr

(-lmat_world.m23 * lmat_world.m23 + 1))