public void setInverseRotationRadians(float[] angles) {
        if (angles.length != 3) {
            throw new IllegalArgumentException(
                    "Angles must be of size 3.");
        }
        double cr = FastMath.cos(angles[0]);
        double sr = FastMath.sin(angles[0]);
        double cp = FastMath.cos(angles[1]);
        double sp = FastMath.sin(angles[1]);
        double cy = FastMath.cos(angles[2]);
        double sy = FastMath.sin(angles[2]);

        m00 = (float) (cp * cy);
        m10 = (float) (cp * sy);
        m20 = (float) (-sp);

        double srsp = sr * sp;
        double crsp = cr * sp;

        m01 = (float) (srsp * cy - cr * sy);
        m11 = (float) (srsp * sy + cr * cy);
        m21 = (float) (sr * cp);

        m02 = (float) (crsp * cy + sr * sy);
        m12 = (float) (crsp * sy - sr * cy);
        m22 = (float) (cr * cp);
    }
Load an inverted rotation from Euler angles in radians.

@param angles the desired Euler angles (in radians, not null, length=3)
@throws IllegalArgumentException if angles doesn't have length=3.
jme3-core/src/main/java/com/jme3/math/Matrix4f.java