Rigidbody rotation angle.

[Andrey]

I rotating a body (btRigidBody) with torque and need to know body's angle:

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body.applyTorque(new Vector3(0, 0, -10));
float rotationZ = body.getWorldTransform().getRotation(new Quaternion()).getAngleAround(0, 0, 1);

Clockwise and counterclockwise rotation returns the same angle, which is greater than null. And angle also can't be greater than 239.9.
Is there any way to obtain correct angle from the body?

[Andrey]

I found that a roll is very close to what I need:

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float rotation = body.getWorldTransform().getRotation(new Quaternion()).getRoll();

But it had a holes at (85, 95) and (-95, -85). On those holes, rotation angle can be obtained through method from my previews post. But for correct angle I need to know the sign (+/-). Any ideas?

[Andrey]

I found a sign. It called 'gimbalPole'. Finally, the rotation angle can be obtained from quanterion (mRotation) in this way:

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body.getWorldTransform().getRotation(mRotation);
float roll = mRotation.getRoll();
float angle = mRotation.getAngleAround(0, 0, 1);
int gimbalPole = mRotation.getGimbalPole();
float rotation = (gimbalPole == 0) ? roll : angle * gimbalPole;

Obtained rotation will be in range (-180, 180).