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Q: 

How to get rotations from btTransform to D3DXMatrixRotationYawPitchRoll ?

I need to get rotation data from Bullets rigid body world transform ( getWorldTransform() ) to the suitable format to pass to D3DXMatrixRotationYawPitchRoll function to generate the rotation matrix for DirectX.

My solutions structure is built up this way so I need to pass the data this way. You can provide other solutions, maybe I can shift things around a bit.

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