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+/**
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+ * @author bhouston / http://exocortex.com
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+ */
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+
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+THREE.Euler3 = function ( x, y, z, order ) {
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+
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+ this.x = x || 0;
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+ this.y = y || 0;
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+ this.z = z || 0;
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+ this.order = order || "XYZ";
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+
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+};
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+
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+THREE.Euler3.RotationOrders = [ 'XYZ', 'YZX', 'ZXY', 'XZY', 'YXZ', 'ZYX' ];
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+
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+THREE.Euler3.prototype = {
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+
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+ constructor: THREE.Euler3,
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+
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+ set: function ( x, y, z, order ) {
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+
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+ this.x = x;
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+ this.y = y;
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+ this.z = z;
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+ this.order = order;
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+
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+ return this;
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+
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+ },
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+
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+ copy: function ( e ) {
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+
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+ this.x = e.x;
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+ this.y = e.y;
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+ this.z = e.z;
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+ this.order = e.order;
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+
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+ return this;
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+
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+ },
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+
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+ setFromRotationMatrix: function ( m, order ) {
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+
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+ // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
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+
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+ // clamp, to handle numerical problems
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+
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+ function clamp( x ) {
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+
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+ return Math.min( Math.max( x, -1 ), 1 );
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+
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+ }
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+
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+ var te = m.elements;
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+ var m11 = te[0], m12 = te[4], m13 = te[8];
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+ var m21 = te[1], m22 = te[5], m23 = te[9];
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+ var m31 = te[2], m32 = te[6], m33 = te[10];
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+
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+ if ( order === undefined || order === 'XYZ' ) {
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+
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+ this.y = Math.asin( clamp( m13 ) );
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+
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+ if ( Math.abs( m13 ) < 0.99999 ) {
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+
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+ this.x = Math.atan2( - m23, m33 );
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+ this.z = Math.atan2( - m12, m11 );
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+
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+ } else {
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+
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+ this.x = Math.atan2( m32, m22 );
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+ this.z = 0;
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+
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+ }
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+
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+ } else if ( order === 'YXZ' ) {
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+
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+ this.x = Math.asin( - clamp( m23 ) );
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+
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+ if ( Math.abs( m23 ) < 0.99999 ) {
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+
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+ this.y = Math.atan2( m13, m33 );
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+ this.z = Math.atan2( m21, m22 );
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+
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+ } else {
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+
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+ this.y = Math.atan2( - m31, m11 );
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+ this.z = 0;
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+
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+ }
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+
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+ } else if ( order === 'ZXY' ) {
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+
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+ this.x = Math.asin( clamp( m32 ) );
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+
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+ if ( Math.abs( m32 ) < 0.99999 ) {
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+
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+ this.y = Math.atan2( - m31, m33 );
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+ this.z = Math.atan2( - m12, m22 );
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+
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+ } else {
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+
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+ this.y = 0;
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+ this.z = Math.atan2( m21, m11 );
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+
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+ }
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+
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+ } else if ( order === 'ZYX' ) {
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+
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+ this.y = Math.asin( - clamp( m31 ) );
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+
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+ if ( Math.abs( m31 ) < 0.99999 ) {
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+
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+ this.x = Math.atan2( m32, m33 );
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+ this.z = Math.atan2( m21, m11 );
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+
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+ } else {
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+
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+ this.x = 0;
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+ this.z = Math.atan2( - m12, m22 );
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+
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+ }
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+
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+ } else if ( order === 'YZX' ) {
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+
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+ this.z = Math.asin( clamp( m21 ) );
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+
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+ if ( Math.abs( m21 ) < 0.99999 ) {
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+
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+ this.x = Math.atan2( - m23, m22 );
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+ this.y = Math.atan2( - m31, m11 );
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+
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+ } else {
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+
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+ this.x = 0;
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+ this.y = Math.atan2( m13, m33 );
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+
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+ }
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+
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+ } else if ( order === 'XZY' ) {
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+
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+ this.z = Math.asin( - clamp( m12 ) );
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+
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+ if ( Math.abs( m12 ) < 0.99999 ) {
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+
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+ this.x = Math.atan2( m32, m22 );
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+ this.y = Math.atan2( m13, m11 );
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+
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+ } else {
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+
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+ this.x = Math.atan2( - m23, m33 );
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+ this.y = 0;
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+
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+ }
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+
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+ }
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+
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+ this.order = order;
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+
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+ return this;
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+
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+ },
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+
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+ setFromQuaternion: function ( q, order ) {
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+
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+ // q is assumed to be normalized
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+
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+ // clamp, to handle numerical problems
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+
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+ function clamp( x ) {
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+
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+ return Math.min( Math.max( x, -1 ), 1 );
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+
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+ }
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+
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+ // http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/content/SpinCalc.m
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+
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+ var sqx = q.x * q.x;
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+ var sqy = q.y * q.y;
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+ var sqz = q.z * q.z;
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+ var sqw = q.w * q.w;
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+
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+ if ( order === undefined || order === 'XYZ' ) {
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+
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+ this.x = Math.atan2( 2 * ( q.x * q.w - q.y * q.z ), ( sqw - sqx - sqy + sqz ) );
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+ this.y = Math.asin( clamp( 2 * ( q.x * q.z + q.y * q.w ) ) );
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+ this.z = Math.atan2( 2 * ( q.z * q.w - q.x * q.y ), ( sqw + sqx - sqy - sqz ) );
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+
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+ } else if ( order === 'YXZ' ) {
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+
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+ this.x = Math.asin( clamp( 2 * ( q.x * q.w - q.y * q.z ) ) );
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+ this.y = Math.atan2( 2 * ( q.x * q.z + q.y * q.w ), ( sqw - sqx - sqy + sqz ) );
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+ this.z = Math.atan2( 2 * ( q.x * q.y + q.z * q.w ), ( sqw - sqx + sqy - sqz ) );
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+
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+ } else if ( order === 'ZXY' ) {
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+
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+ this.x = Math.asin( clamp( 2 * ( q.x * q.w + q.y * q.z ) ) );
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+ this.y = Math.atan2( 2 * ( q.y * q.w - q.z * q.x ), ( sqw - sqx - sqy + sqz ) );
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+ this.z = Math.atan2( 2 * ( q.z * q.w - q.x * q.y ), ( sqw - sqx + sqy - sqz ) );
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+
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+ } else if ( order === 'ZYX' ) {
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+
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+ this.x = Math.atan2( 2 * ( q.x * q.w + q.z * q.y ), ( sqw - sqx - sqy + sqz ) );
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+ this.y = Math.asin( clamp( 2 * ( q.y * q.w - q.x * q.z ) ) );
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+ this.z = Math.atan2( 2 * ( q.x * q.y + q.z * q.w ), ( sqw + sqx - sqy - sqz ) );
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+
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+ } else if ( order === 'YZX' ) {
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+
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+ this.x = Math.atan2( 2 * ( q.x * q.w - q.z * q.y ), ( sqw - sqx + sqy - sqz ) );
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+ this.y = Math.atan2( 2 * ( q.y * q.w - q.x * q.z ), ( sqw + sqx - sqy - sqz ) );
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+ this.z = Math.asin( clamp( 2 * ( q.x * q.y + q.z * q.w ) ) );
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+
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+ } else if ( order === 'XZY' ) {
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+
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+ this.x = Math.atan2( 2 * ( q.x * q.w + q.y * q.z ), ( sqw - sqx + sqy - sqz ) );
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+ this.y = Math.atan2( 2 * ( q.x * q.z + q.y * q.w ), ( sqw + sqx - sqy - sqz ) );
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+ this.z = Math.asin( clamp( 2 * ( q.z * q.w - q.x * q.y ) ) );
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+
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+ }
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+
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+ this.order = order;
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+
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+ return this;
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+
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+ },
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+
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+ reorder: function( newOrder ) {
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+
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+ // todo.
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+
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+ },
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+
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+ alternativeSolution: function() {
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+
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+ // todo.
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+
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+ },
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+
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+ equals: function ( e ) {
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+
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+ return ( ( e.x === this.x ) && ( e.y === this.y ) && ( e.z === this.z ) && ( e.order === this.order ) );
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+
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+ },
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+
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+ clone: function () {
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+
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+ return new THREE.Euler3( this.x, this.y, this.z, this.order );
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+
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+ }
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+
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+};
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