1 files changed, 0 insertions, 57 deletions
diff --git a/opentrack/simple-mat.cpp b/opentrack/simple-mat.cpp
deleted file mode 100644
index ad83a508..00000000
--- a/opentrack/simple-mat.cpp
+++ /dev/null
@@ -1,57 +0,0 @@
-#include "simple-mat.hpp"
-#include "opentrack-compat/pi-constant.hpp"
-#include <cmath>
-
-namespace euler {
-
-euler_t rmat_to_euler(const dmat<3, 3>& R)
-{
-    using std::atan2;
-    using std::sqrt;
-
-    const double cy = sqrt(R(2,2)*R(2, 2) + R(2, 1)*R(2, 1));
-    const bool large_enough = cy > 1e-10;
-    if (large_enough)
-        return euler_t(atan2(-R(2, 1), R(2, 2)),
-                       atan2(R(2, 0), cy),
-                       atan2(-R(1, 0), R(0, 0)));
-    else
-        return euler_t(0.,
-                       atan2(R(2, 0), cy),
-                       atan2(R(0, 1), R(1, 1)));
-}
-
-// tait-bryan angles, not euler
-rmat euler_to_rmat(const euler_t& input)
-{
-    const double H = input(0);
-    const double P = input(1);
-    const double B = -input(2);
-
-    using std::cos;
-    using std::sin;
-
-    const auto c1 = cos(H);
-    const auto s1 = sin(H);
-    const auto c2 = cos(P);
-    const auto s2 = sin(P);
-    const auto c3 = cos(B);
-    const auto s3 = sin(B);
-
-    return dmat<3, 3>(
-                // z
-                c1 * c2,
-                c1 * s2 * s3 - c3 * s1,
-                s1 * s3 + c1 * c3 * s2,
-                // y
-                c2 * s1,
-                c1 * c3 + s1 * s2 * s3,
-                c3 * s1 * s2 - c1 * s3,
-                // x
-                -s2,
-                c2 * s3,
-                c2 * c3
-                );
-}
-
-} // end ns euler