Mantis#1598. Thank you kindly, Matth for a patch that addresses:

The previous implementation of llEuler2Rot was not mathematically 
incorrect, but it was an awkward way of posing the problem that 
led to a few degenerate cases which were not handled correctly - 
for example, PI rotations around X and Z axes were wrong. I put 
some comments in the source about how I arrived at the current 
implementation, which I think is easier to read, and gives 
results that match SL.

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