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@@ -10,11 +10,12 @@
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<body>
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<h1>[name]</h1>
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- <div class="desc">A class representing [link:http://en.wikipedia.org/wiki/Euler_angles Euler Angles].<br /><br />
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+ <div class="desc">
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+ A class representing [link:http://en.wikipedia.org/wiki/Euler_angles Euler Angles].<br /><br />
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- Euler angles describe a rotational transformation by rotating an object on its various
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- axes in specified amounts per axis, and a specified axis order.
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- </div>
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+ Euler angles describe a rotational transformation by rotating an object on its various
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+ axes in specified amounts per axis, and a specified axis order.
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+ </div>
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<h2>Example</h2>
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@@ -51,9 +52,23 @@
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<div>
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The order in which to apply rotations. Default is 'XYZ', which means that the object will first be
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rotated around its X axis, then its Y axis and finally its Z axis. Other possibilities are:
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- 'YZX', 'ZXY', 'XZY', 'YXZ' and 'ZYX'. Note that these must be in upper case.<br /><br />
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+ 'YZX', 'ZXY', 'XZY', 'YXZ' and 'ZYX'. These must be in upper case.<br /><br />
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- If this is changed, [page:.onChangeCallback onChangeCallback] will be called.
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+ Three.js uses <em>intrinsic</em> (Tait-Bryan) ordering, also known as <em>yaw</em>, <em>pitch</em>
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+ and <em>roll</em>. This means that rotations are performed with respect to the <em>local</em>
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+ coordinate system. That is, for order 'XYZ', the rotation is first around world-X, then around
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+ local-Y (which may now be different from the world Y-axis), then local-Z (which may be different
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+ from the world Z-axis).<br /><br />
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+
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+ Some implementations may use <em>extrinsic</em> (proper) ordering, in which case rotations are performed
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+ with respect to the <em>world</em> coordinate system, so that for order 'XYZ', the rotations
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+ are around world-X, world-Y, and world-Z.<br /><br />
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+
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+ Converting between the two types is relatively straightforward, you just need to reverse the order
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+ and the rotation, so that an intrinsic (three.js) Euler rotation of angles a, b, c about XYZ
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+ will be equivalent to to an extrinsic Euler rotation of angles c, b, a about ZYX.<br /><br />
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+
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+ If the order is changed, [page:.onChangeCallback onChangeCallback] will be called.
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</div>
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<h3>[property:Float x]</h3>
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Mr.doob