MATH: Rename XYZ Rotation Functions to Euler to better describe the function.
MATH: Replace Quaternion XYZ with Euler.
MATH: Add factorization for non-unique answers in Rotation3D.
MATH: Add const qualifier to getEuler.
Merge pull request #1078 from JoseJX/CleanupRotation

MATH: Cleanup rotation naming and fix non-unique factorization