toMatrix

Converts a #graphene_euler_t into a transformation matrix expressing the extrinsic composition of rotations described by the Euler angles.

The rotations are applied over the reference frame axes in the order associated with the #graphene_euler_t; for instance, if the order used to initialize @e is %GRAPHENE_EULER_ORDER_XYZ:

• the first rotation moves the body around the X axis with an angle φ

• the second rotation moves the body around the Y axis with an angle of ϑ

• the third rotation moves the body around the Z axis with an angle of ψ

The rotation sign convention is right-handed, to preserve compatibility between Euler-based, quaternion-based, and angle-axis-based rotations.

Parameters