481     x = Math<T>::atan2 (M[j][i], M[k][i]);  in extract()
503     T sy = Math<T>::sqrt (N[j][i]*N[j][i] + N[k][i]*N[k][i]);  in extract()
504     y = Math<T>::atan2 (sy, N[i][i]);  in extract()
505     z = Math<T>::atan2 (N[j][k], N[j][j]);  in extract()
513     x = Math<T>::atan2 (M[j][k], M[k][k]);  in extract()
535     T cy = Math<T>::sqrt (N[i][i]*N[i][i] + N[i][j]*N[i][j]);  in extract()
536     y = Math<T>::atan2 (-N[i][k], cy);  in extract()
537     z = Math<T>::atan2 (-N[j][i], N[j][j]);  in extract()
563     x = Math<T>::atan2 (M[j][i], M[k][i]);  in extract()
582     T sy = Math<T>::sqrt (N[j][i]*N[j][i] + N[k][i]*N[k][i]);  in extract()
583     y = Math<T>::atan2 (sy, N[i][i]);  in extract()
584     z = Math<T>::atan2 (N[j][k], N[j][j]);  in extract()
592     x = Math<T>::atan2 (M[j][k], M[k][k]);  in extract()
611     T cy = Math<T>::sqrt (N[i][i]*N[i][i] + N[i][j]*N[i][j]);  in extract()
612     y = Math<T>::atan2 (-N[i][k], cy);  in extract()
613     z = Math<T>::atan2 (-N[j][i], N[j][j]);  in extract()
640     T ci = Math<T>::cos(angles.x);  in toMatrix33()
641     T cj = Math<T>::cos(angles.y);  in toMatrix33()
642     T ch = Math<T>::cos(angles.z);  in toMatrix33()
643     T si = Math<T>::sin(angles.x);  in toMatrix33()
644     T sj = Math<T>::sin(angles.y);  in toMatrix33()
645     T sh = Math<T>::sin(angles.z);  in toMatrix33()
683     T ci = Math<T>::cos(angles.x);  in toMatrix44()
684     T cj = Math<T>::cos(angles.y);  in toMatrix44()
685     T ch = Math<T>::cos(angles.z);  in toMatrix44()
686     T si = Math<T>::sin(angles.x);  in toMatrix44()
687     T sj = Math<T>::sin(angles.y);  in toMatrix44()
688     T sh = Math<T>::sin(angles.z);  in toMatrix44()
728     T ci = Math<T>::cos(ti);  in toQuat()
729     T cj = Math<T>::cos(tj);  in toQuat()
730     T ch = Math<T>::cos(th);  in toQuat()
731     T si = Math<T>::sin(ti);  in toQuat()
732     T sj = Math<T>::sin(tj);  in toQuat()
733     T sh = Math<T>::sin(th);  in toQuat()