gistfile1.txt

float dd0 = v0[0]*v0[0]+v0[1]*v0[1]+v0[2]*v0[2];
		float dd1 = v1[0]*v1[0]+v1[1]*v1[1]+v1[2]*v1[2];
		float dd2 = v2[0]*v2[0]+v2[1]*v2[1]+v2[2]*v2[2];
		

		float fi0 = atan2f(tr->tv0[1],tr->tv0[0]);
		float fi1 = atan2f(tr->tv1[1],tr->tv1[0]);
		float fi2 = atan2f(tr->tv2[1],tr->tv2[0]);
		
	
		float teta0 = atan2f(tr->tv0[2],sqrtf(tr->tv0[0]*tr->tv0[0]+tr->tv0[1]*tr->tv0[1]));
		float teta1 = atan2f(tr->tv1[2],sqrtf(tr->tv1[0]*tr->tv1[0]+tr->tv1[1]*tr->tv1[1]));
		float teta2 = atan2f(tr->tv2[2],sqrtf(tr->tv2[0]*tr->tv2[0]+tr->tv2[1]*tr->tv2[1]));