There is indead an instruction for those problems, and JulzMighty already programed something in this direction.
Here is the instruction from the manual:
http://www.conitec.net/beta/ang_for_axis.htm

http://www.puppenheim.org/
http://www.wuerfels-welt.de
Old Game Tutorial: http://www.puppenheim.org/MITutorial.zip
Free Game Editor: http://puppenheim.org/AlienalsWeihnachtsmann.zip
http://www.puppenheim.org/blender_starting_main_settings.txt