I will start by apologizing I highly doubt I will have any of the correct terminology, unfortenately after a few hours of raw testing and mashing my head against the wall I can figure this out.
I working with an engine the orients its models using a bottom aligned system. Meaning that the z axis (in a z up system), is z - radius = origin, or if the model is sitting at 0,0,0 all the tris would be in positive-z space.
I am integrating bullet which is a center aligned system, meaning that the objects origin is in the center of the mass (in this case a simple aabb cube).
I have the problem that the yaw pitch roll and origin i pass into the renderer is offset by radius in the z+ direction. Now the biggest issue comes when the pitch or roll becomes something other than 0. Because bullet's center aligned system, rotates around the pitch and roll around the center and the render rotates around the bottom. So there is a clear difference in where the model and the bounding box are lining up.
So is there an algorithm to convert from these two forms of orientation?