The rotation matrix to Euler angle algorithms have been converted to the general one of Ken Shoemake.
This is from Euler Angle Conversion. Graphics Gems IV. Paul Heckbert (ed.). Academic Press, 1994, ISBN: 0123361567. pp. 222-229.
All of the R_to_euler_ijk() methods have been converted to call the new R_to_euler() method which implements this.
Authored by: bugman 2010-01-05
Parent: [r10108]
Child: [r10110]
