Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.

examples/MultiBody/MultiDofDemo.cpp

@@ -34,10 +34,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 1;
-		float pitch = 50;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 50;
 		float targetPos[3]={-3,2.8,-2.5};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 
@@ -446,4 +446,4 @@ void MultiDofDemo::addBoxes_testMultiDof()
 class CommonExampleInterface*    MultiDofCreateFunc(struct CommonExampleOptions& options)
 {
 	return new MultiDofDemo(options.m_guiHelper);
-}
+}