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Add trace function for matrix types (#280)
* Add trace function for matrix types Signed-off-by: Xiao Zhai <zhaixiao43+git@gmail.com> * Add tests for the matrix trace function Signed-off-by: Xiao Zhai <zhaixiao43+git@gmail.com> * Fix issue in extractQuat introduced by incorrect use of matrix trace Signed-off-by: Xiao Zhai <zhaixiao43+git@gmail.com> Signed-off-by: Xiao Zhai <zhaixiao43+git@gmail.com>
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