btmatrix3x3: Difference between getEulerYPR and getEulerZYX

[Zenja]

Hello.
I'm relatively new to Bullet, and have found that these 2 methods (btMatrix3x3::getEulerYPR and btMatrix3x3::getEulerZYX) for my datasets produce the same results. I'm just curious as to why there are 2 methods which apparently do the same thing and end up with the exact same result.

Cheers.

[shogun]

When you look into the code you will see that SetEulerYPR just calls setEulerZYX, with different order of the parameters. But I don't know why this function exists, either.

[Zenja]

I'm using 2.75rc3, and they are different.

getEulerYPR has 3 calculations and sign adjustment.
getEulerZYX has additional code for singularity detection and gimbal locks.

Since I'm new to Bullet, I didn't know which one to select, and tested both, and was suprised to see that they both returned the same results for all of my test cases.

Edit spelling.

[shogun]

I'm sorry, I mixed it up with setEuler... instead of getEuler...