From c4cb66234ba5bb982c3c25f55a9b1286c147f3c2 Mon Sep 17 00:00:00 2001
From: Luigi Malomo <malomo.luigi@gmail.com>
Date: Sun, 10 Jan 2021 02:04:04 +0100
Subject: [PATCH] minor changes to RotationMatrix of Matrix33

---
 vcg/math/matrix33.h | 16 ++++++----------
 1 file changed, 6 insertions(+), 10 deletions(-)

diff --git a/vcg/math/matrix33.h b/vcg/math/matrix33.h
index 5c82526d..2da2c504 100644
--- a/vcg/math/matrix33.h
+++ b/vcg/math/matrix33.h
@@ -574,16 +574,12 @@ Matrix33<S> RotationMatrix(vcg::Point3<S> v0,vcg::Point3<S> v1,bool normalized=t
 ///return the rotation matrix along axis
 template <class S>
 Matrix33<S> RotationMatrix(const vcg::Point3<S> &axis,
-                           const float &angleRad)
-    {
-        vcg::Matrix44<S> matr44;
-        vcg::Matrix33<S> matr33;
-        matr44.SetRotateRad(angleRad,axis);
-        for (int i=0;i<3;i++)
-            for (int j=0;j<3;j++)
-                matr33[i][j]=matr44[i][j];
-        return matr33;
-    }
+                           const S &angleRad)
+{
+	vcg::Matrix44<S> matr44;
+	matr44.SetRotateRad(angleRad,axis);
+	return vcg::Matrix33<S>(matr44, 3);
+}
 
 /// return a random rotation matrix, from the paper:
 /// Fast Random Rotation Matrices, James Arvo