X-Git-Url: https://git.dogcows.com/gitweb?p=chaz%2Fyoink;a=blobdiff_plain;f=src%2FMoof%2Fcml%2Fmathlib%2Fmatrix_rotation.h;fp=src%2FMoof%2Fcml%2Fmathlib%2Fmatrix_rotation.h;h=872edffb5937d2c9e731e6cc3d7282592c0c1857;hp=2298c224eefad0c9271456c432b0acfb86077be2;hb=40755d4c6251206c18ce4784967d3a910cee096f;hpb=d08114d4e7315636ff62127845150273e0cbf66f

diff --git a/src/Moof/cml/mathlib/matrix_rotation.h b/src/Moof/cml/mathlib/matrix_rotation.h
index 2298c22..872edff 100644
--- a/src/Moof/cml/mathlib/matrix_rotation.h
+++ b/src/Moof/cml/mathlib/matrix_rotation.h
@@ -281,8 +281,6 @@ matrix_rotation_euler_derivatives(
     /* Checking */
     detail::CheckMatLinear3D(m);
 
-    identity_transform(m);
-    
     size_t i, j, k;
     bool odd, repeat;
     detail::unpack_euler_order(order, i, j, k, odd, repeat);
@@ -952,6 +950,20 @@ void matrix_to_euler(
     }
 }
 
+/** Convenience function to return a 3D vector containing the Euler angles
+ * in the requested order.
+ */
+template < class MatT, typename Real > vector< Real, fixed<3> >
+matrix_to_euler(
+    const MatT& m,
+    EulerOrder order,
+    Real tolerance = epsilon<Real>::placeholder())
+{
+  Real e0, e1, e2;
+  matrix_to_euler(m, e0, e1, e2, order, tolerance);
+  return vector< Real, fixed<3> >(e0, e1, e2);
+}
+
 /** Convert a 2D rotation matrix to a rotation angle */
 template < class MatT > typename MatT::value_type
 matrix_to_rotation_2D(const MatT& m)