Coordinates system in .mis file

Hello,

I am making an exporter for Cinema 4D to automatically export multiple DAE objets and add them to the .mis file, to make a new level from static objects, but I am having trouble with the rotations.

I see that the coordinates are, for example :

position = "17.9594 -19.9791 8.28382";
rotation = "0.436844 0.185447 -0.880214 51.4948";

I don't recognize quaternion nor Euler, or maybe I am wrong, do you know what is this rotation format ? Or how I can I extract it from a matrix, or convert it from quaternion or from euler ?

Do you also know if the position depends of the rotation ? Because when I rotate an object in the editor, it changes the position, I don't know if it's normal.

Thanks,

 

Maybe this could be of use: https://www.garagegames.com/community/blogs/view/21516

 

Thanks for the info, it seems to be indeed Axis Angle rotation. I also found this to help : http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle/