From ce2063c19177a0f281dc687e7f11d466a618c0f1 Mon Sep 17 00:00:00 2001
From: Dzmitry Malyshau <kvark@mozilla.com>
Date: Tue, 25 Jul 2017 11:55:54 -0400
Subject: [PATCH] Mint Euler angles

---
 src/geometry/quaternion_conversion.rs |  4 ++--
 src/geometry/rotation_conversion.rs   | 15 ++++++++++++++-
 2 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/src/geometry/quaternion_conversion.rs b/src/geometry/quaternion_conversion.rs
index 9c264180..7f1e2c5e 100644
--- a/src/geometry/quaternion_conversion.rs
+++ b/src/geometry/quaternion_conversion.rs
@@ -177,8 +177,8 @@ impl<N, S> From<mint::Quaternion<N>> for QuaternionBase<N, S>
 where
     N: Real,
     S: OwnedStorage<N, U4, U1>,
-    S::Alloc: OwnedAllocator<N, U4, U1, S>,
-{
+    S::Alloc: OwnedAllocator<N, U4, U1, S> {
+
     fn from(q: mint::Quaternion<N>) -> Self {
         QuaternionBase::new(q.s, q.v.x, q.v.y, q.v.z)
     }
diff --git a/src/geometry/rotation_conversion.rs b/src/geometry/rotation_conversion.rs
index df839062..07ef9d81 100644
--- a/src/geometry/rotation_conversion.rs
+++ b/src/geometry/rotation_conversion.rs
@@ -22,7 +22,9 @@ use geometry::{Point, Translation, Rotation, UnitQuaternion, UnitComplex, Isomet
  * Rotation  -> Similarity
  * Rotation  -> Transform
  * Rotation  -> Matrix (homogeneous)
- */
+ * mint::EulerAngles -> RotationBase
+ 
+*/
 
 
 impl<N1, N2, D: DimName> SubsetOf<Rotation<N2, D>> for Rotation<N1, D>
@@ -201,3 +203,14 @@ impl<N1, N2, D> SubsetOf<MatrixN<N2, DimNameSum<D, U1>>> for Rotation<N1, D>
         Self::from_matrix_unchecked(::convert_unchecked(r.into_owned()))
     }
 }
+
+#[cfg(feature = "mint")]
+impl<N, S> From<mint::EulerAngles<N, mint::IntraXYZ>> for  RotationBase<N, U3, S>
+where N: Real,
+      S: OwnedStorage<N, U3, U3>,
+      S::Alloc: OwnedAllocator<N, U3, U3, S> {
+
+    fn from(euler: mint::EulerAngles<N, mint::IntraXYZ>) -> Self {
+        Self::from_euler_angles(euler.a, euler.b, euler.c)
+    }
+}