[ODE] Set and get rotation (in euler)

[Gussimulator]

Hi Ive read lots about euler conversions from  matrix and all this however i cant seem to get it right on the pitch (when getting the rotation) and the SET part is entirely wrong.  Should I get the quaternions instead and convert them to euler? (wouldnt that be faster too?) and for setting, the opposite process.

Whats faster? Whats better?

Thanks.
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