math - How to get Yaw, Pitch and Roll from a 3D vector

Question

I have a direction vector that applied to a position gives me the point at which the camera should look. How can I get from that yaw, pitch and roll in order to use glRotatef properly?

Thanks in advance

Answer 1

None of these equations are 'wrong' but all are a little clumsy. Ryder052, you example does not account certain cases as you've commented. Why not use atan2?

Given unit (normalized) direction vector d

pitch = asin(-d.Y);
yaw = atan2(d.X, d.Z)