Support extracting euler angles from matrix types.

codegen/templates/mat.rs.tera

@@ -524,6 +524,13 @@ impl {{ self_t }} {
         Self::from_euler_angles(order, a, b, c)
     }
 
+    /// Extract Euler angles with the given Euler rotation order.
+    #[inline]
+    #[must_use]
+    pub fn to_euler(&self, order: EulerRot) -> ({{ scalar_t }}, {{ scalar_t }}, {{ scalar_t }}) {
+        self.to_euler_angles(order)
+    }
+
     /// Creates a 3D rotation matrix from `angle` (in radians) around the x axis.
     #[inline]
     #[must_use]

src/euler.rs

@@ -379,6 +379,20 @@ macro_rules! impl_mat3_to_euler {
     };
 }
 
+macro_rules! impl_mat4_to_euler {
+    ($scalar:ident, $mat4:ident, $mat3:ident) => {
+        impl ToEuler for $mat4 {
+            type Scalar = $scalar;
+            fn to_euler_angles(
+                self,
+                order: EulerRot,
+            ) -> (Self::Scalar, Self::Scalar, Self::Scalar) {
+                $mat3::from_mat4(self).to_euler_angles(order)
+            }
+        }
+    };
+}
+
 macro_rules! impl_quat_to_euler {
     ($scalar:ident, $quat:ident, $mat3:ident) => {
         impl ToEuler for $quat {
@@ -398,11 +412,13 @@ impl_euler_to_mat3!(f32, Mat3, Vec3);
 impl_mat3_to_euler!(f32, Mat3A, Vec3A);
 impl_euler_to_mat3!(f32, Mat3A, Vec3A);
 impl_euler_to_mat4!(f32, Mat4, Mat3);
+impl_mat4_to_euler!(f32, Mat4, Mat3);
 impl_quat_to_euler!(f32, Quat, Mat3);
 impl_euler_to_quat!(f32, Quat, Vec3);
 
 impl_mat3_to_euler!(f64, DMat3, DVec3);
 impl_euler_to_mat3!(f64, DMat3, DVec3);
+impl_mat4_to_euler!(f64, DMat4, DMat3);
 impl_euler_to_mat4!(f64, DMat4, DMat3);
 impl_quat_to_euler!(f64, DQuat, DMat3);
 impl_euler_to_quat!(f64, DQuat, DVec3);

src/f32/coresimd/mat3a.rs

@@ -226,6 +226,13 @@ impl Mat3A {
         Self::from_euler_angles(order, a, b, c)
     }
 
+    /// Extract Euler angles with the given Euler rotation order.
+    #[inline]
+    #[must_use]
+    pub fn to_euler(&self, order: EulerRot) -> (f32, f32, f32) {
+        self.to_euler_angles(order)
+    }
+
     /// Creates a 3D rotation matrix from `angle` (in radians) around the x axis.
     #[inline]
     #[must_use]

src/f32/mat3.rs

@@ -227,6 +227,13 @@ impl Mat3 {
         Self::from_euler_angles(order, a, b, c)
     }
 
+    /// Extract Euler angles with the given Euler rotation order.
+    #[inline]
+    #[must_use]
+    pub fn to_euler(&self, order: EulerRot) -> (f32, f32, f32) {
+        self.to_euler_angles(order)
+    }
+
     /// Creates a 3D rotation matrix from `angle` (in radians) around the x axis.
     #[inline]
     #[must_use]

src/f32/neon/mat3a.rs

@@ -226,6 +226,13 @@ impl Mat3A {
         Self::from_euler_angles(order, a, b, c)
     }
 
+    /// Extract Euler angles with the given Euler rotation order.
+    #[inline]
+    #[must_use]
+    pub fn to_euler(&self, order: EulerRot) -> (f32, f32, f32) {
+        self.to_euler_angles(order)
+    }
+
     /// Creates a 3D rotation matrix from `angle` (in radians) around the x axis.
     #[inline]
     #[must_use]

src/f32/scalar/mat3a.rs

@@ -227,6 +227,13 @@ impl Mat3A {
         Self::from_euler_angles(order, a, b, c)
     }
 
+    /// Extract Euler angles with the given Euler rotation order.
+    #[inline]
+    #[must_use]
+    pub fn to_euler(&self, order: EulerRot) -> (f32, f32, f32) {
+        self.to_euler_angles(order)
+    }
+
     /// Creates a 3D rotation matrix from `angle` (in radians) around the x axis.
     #[inline]
     #[must_use]

src/f32/sse2/mat3a.rs

@@ -229,6 +229,13 @@ impl Mat3A {
         Self::from_euler_angles(order, a, b, c)
     }
 
+    /// Extract Euler angles with the given Euler rotation order.
+    #[inline]
+    #[must_use]
+    pub fn to_euler(&self, order: EulerRot) -> (f32, f32, f32) {
+        self.to_euler_angles(order)
+    }
+
     /// Creates a 3D rotation matrix from `angle` (in radians) around the x axis.
     #[inline]
     #[must_use]

src/f32/wasm32/mat3a.rs

@@ -226,6 +226,13 @@ impl Mat3A {
         Self::from_euler_angles(order, a, b, c)
     }
 
+    /// Extract Euler angles with the given Euler rotation order.
+    #[inline]
+    #[must_use]
+    pub fn to_euler(&self, order: EulerRot) -> (f32, f32, f32) {
+        self.to_euler_angles(order)
+    }
+
     /// Creates a 3D rotation matrix from `angle` (in radians) around the x axis.
     #[inline]
     #[must_use]

src/f64/dmat3.rs

@@ -226,6 +226,13 @@ impl DMat3 {
         Self::from_euler_angles(order, a, b, c)
     }
 
+    /// Extract Euler angles with the given Euler rotation order.
+    #[inline]
+    #[must_use]
+    pub fn to_euler(&self, order: EulerRot) -> (f64, f64, f64) {
+        self.to_euler_angles(order)
+    }
+
     /// Creates a 3D rotation matrix from `angle` (in radians) around the x axis.
     #[inline]
     #[must_use]