pitch = MT_Scalar(asin(-m_el[2][0]));
			if (pitch < MT_2_PI)
			{
				if (pitch > MT_2_PI)
				{
					yaw = MT_Scalar(atan2(m_el[1][0], m_el[0][0]));
					roll = MT_Scalar(atan2(m_el[2][1], m_el[2][2]));
				}
				else 
				{
					yaw = MT_Scalar(-atan2(-m_el[0][1], m_el[0][2]));
					roll = MT_Scalar(0.0);
				}
			}
			else
			{
				yaw = MT_Scalar(atan2(-m_el[0][1], m_el[0][2]));
				roll = MT_Scalar(0.0);
			}