From c99138926dee6f1de18a2cc6c109b9634d9d601d Mon Sep 17 00:00:00 2001
From: maxcorsini <massimiliano.corsini@isti.cnr.it>
Date: Tue, 3 Jul 2007 16:06:48 +0000
Subject: [PATCH] add DCM to Euler Angles conversion

---
 vcg/math/matrix44.h | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/vcg/math/matrix44.h b/vcg/math/matrix44.h
index 4297f7e0..3d388903 100644
--- a/vcg/math/matrix44.h
+++ b/vcg/math/matrix44.h
@@ -24,6 +24,9 @@
   History
 
 $Log: not supported by cvs2svn $
+Revision 1.32  2007/03/08 14:39:27  corsini
+final fix to euler angles transformation
+
 Revision 1.31  2007/02/06 09:57:40  corsini
 fix euler angles computation
 
@@ -232,6 +235,9 @@ public:
 	
   template <class Matrix44Type>
 	void ToMatrix(Matrix44Type & m) const {for(int i = 0; i < 16; i++) m.V()[i]=V()[i];}
+
+	void ToEulerAngles(T &alpha, T &beta, T &gamma);
+
 	template <class Matrix44Type>
 	void FromMatrix(const Matrix44Type & m){for(int i = 0; i < 16; i++) V()[i]=m.V()[i];}
 	void FromEulerAngles(T alpha, T beta, T gamma);
@@ -442,6 +448,14 @@ template <class T> void Matrix44<T>::operator*=( const T k ) {
       _a[i] *= k;
 }
 
+template <class T>
+void Matrix44<T>::ToEulerAngles(T &alpha, T &beta, T &gamma)
+{
+	alpha = atan2(ElementAt(1,2), ElementAt(2,2));
+	beta = asin(-ElementAt(0,2));
+	gamma = atan2(ElementAt(0,1), ElementAt(1,1));
+}
+
 template <class T> 
 void Matrix44<T>::FromEulerAngles(T alpha, T beta, T gamma)
 {