angle format
<label><input type="radio" id="resformatrad" name="resformat" value="0" checked onchange="doOutput()"/>Radians</label>
<label><input type="radio" id="resformatdeg" name="resformat" value="1" onchange="doOutput()"/>Degrees</label>
<p>Rotation matrix
<br /><textarea id="resmatrix" rows="3" cols="70" readonly></textarea>
<p>Quaternion [x, y, z, w]
<br /><textarea id="resq" rows="1" cols="85" readonly></textarea>
<p>Axis-Angle {[x, y, z], angle<span name="spanangleres"> (radians)</span>}
<br /><tex