/**
* Convert angles to direction cosines.
* @param aE1 1st Euler angle.
* @param aE2 2nd Euler angle.
* @param aE3 3rd Euler angle.
* @param rDirCos Vector of direction cosines.
*/
void SimbodyEngine::convertAnglesToDirectionCosines(double aE1, double aE2, double aE3, double rDirCos[3][3]) const
{
Vec3 angs(aE1, aE2, aE3);
Rotation aRot;
aRot.setRotationToBodyFixedXYZ(angs);
Mat33::updAs(&rDirCos[0][0]) = aRot.asMat33();
}
