/** * @author mrdoob / http://mrdoob.com/ * @author WestLangley / http://github.com/WestLangley * @author bhouston / http://exocortex.com */ THREE.Euler = function ( x, y, z, order ) { this._x = x || 0; this._y = y || 0; this._z = z || 0; this._order = order || THREE.Euler.DefaultOrder; }; THREE.Euler.RotationOrders = [ 'XYZ', 'YZX', 'ZXY', 'XZY', 'YXZ', 'ZYX' ]; THREE.Euler.DefaultOrder = 'XYZ'; THREE.Euler.prototype = { constructor: THREE.Euler, _x: 0, _y: 0, _z: 0, _order: THREE.Euler.DefaultOrder, _quaternion: undefined, _updateQuaternion: function () { if ( this._quaternion !== undefined ) { this._quaternion.setFromEuler( this, false ); } }, get x () { return this._x; }, set x ( value ) { this._x = value; this._updateQuaternion(); }, get y () { return this._y; }, set y ( value ) { this._y = value; this._updateQuaternion(); }, get z () { return this._z; }, set z ( value ) { this._z = value; this._updateQuaternion(); }, get order () { return this._order; }, set order ( value ) { this._order = value; this._updateQuaternion(); }, set: function ( x, y, z, order ) { this._x = x; this._y = y; this._z = z; this._order = order || this._order; this._updateQuaternion(); return this; }, copy: function ( euler ) { this._x = euler._x; this._y = euler._y; this._z = euler._z; this._order = euler._order; this._updateQuaternion(); return this; }, setFromRotationMatrix: function ( m, order ) { // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled) // clamp, to handle numerical problems function clamp( x ) { return Math.min( Math.max( x, -1 ), 1 ); } var te = m.elements; var m11 = te[0], m12 = te[4], m13 = te[8]; var m21 = te[1], m22 = te[5], m23 = te[9]; var m31 = te[2], m32 = te[6], m33 = te[10]; order = order || this._order; if ( order === 'XYZ' ) { this._y = Math.asin( clamp( m13 ) ); if ( Math.abs( m13 ) < 0.99999 ) { this._x = Math.atan2( - m23, m33 ); this._z = Math.atan2( - m12, m11 ); } else { this._x = Math.atan2( m32, m22 ); this._z = 0; } } else if ( order === 'YXZ' ) { this._x = Math.asin( - clamp( m23 ) ); if ( Math.abs( m23 ) < 0.99999 ) { this._y = Math.atan2( m13, m33 ); this._z = Math.atan2( m21, m22 ); } else { this._y = Math.atan2( - m31, m11 ); this._z = 0; } } else if ( order === 'ZXY' ) { this._x = Math.asin( clamp( m32 ) ); if ( Math.abs( m32 ) < 0.99999 ) { this._y = Math.atan2( - m31, m33 ); this._z = Math.atan2( - m12, m22 ); } else { this._y = 0; this._z = Math.atan2( m21, m11 ); } } else if ( order === 'ZYX' ) { this._y = Math.asin( - clamp( m31 ) ); if ( Math.abs( m31 ) < 0.99999 ) { this._x = Math.atan2( m32, m33 ); this._z = Math.atan2( m21, m11 ); } else { this._x = 0; this._z = Math.atan2( - m12, m22 ); } } else if ( order === 'YZX' ) { this._z = Math.asin( clamp( m21 ) ); if ( Math.abs( m21 ) < 0.99999 ) { this._x = Math.atan2( - m23, m22 ); this._y = Math.atan2( - m31, m11 ); } else { this._x = 0; this._y = Math.atan2( m13, m33 ); } } else if ( order === 'XZY' ) { this._z = Math.asin( - clamp( m12 ) ); if ( Math.abs( m12 ) < 0.99999 ) { this._x = Math.atan2( m32, m22 ); this._y = Math.atan2( m13, m11 ); } else { this._x = Math.atan2( - m23, m33 ); this._y = 0; } } else { console.warn( 'WARNING: Euler.setFromRotationMatrix() given unsupported order: ' + order ) } this._order = order; this._updateQuaternion(); return this; }, setFromQuaternion: function ( q, order, update ) { // q is assumed to be normalized // clamp, to handle numerical problems function clamp( x ) { return Math.min( Math.max( x, -1 ), 1 ); } // http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/content/SpinCalc.m var sqx = q.x * q.x; var sqy = q.y * q.y; var sqz = q.z * q.z; var sqw = q.w * q.w; order = order || this._order; if ( order === 'XYZ' ) { this._x = Math.atan2( 2 * ( q.x * q.w - q.y * q.z ), ( sqw - sqx - sqy + sqz ) ); this._y = Math.asin( clamp( 2 * ( q.x * q.z + q.y * q.w ) ) ); this._z = Math.atan2( 2 * ( q.z * q.w - q.x * q.y ), ( sqw + sqx - sqy - sqz ) ); } else if ( order === 'YXZ' ) { this._x = Math.asin( clamp( 2 * ( q.x * q.w - q.y * q.z ) ) ); this._y = Math.atan2( 2 * ( q.x * q.z + q.y * q.w ), ( sqw - sqx - sqy + sqz ) ); this._z = Math.atan2( 2 * ( q.x * q.y + q.z * q.w ), ( sqw - sqx + sqy - sqz ) ); } else if ( order === 'ZXY' ) { this._x = Math.asin( clamp( 2 * ( q.x * q.w + q.y * q.z ) ) ); this._y = Math.atan2( 2 * ( q.y * q.w - q.z * q.x ), ( sqw - sqx - sqy + sqz ) ); this._z = Math.atan2( 2 * ( q.z * q.w - q.x * q.y ), ( sqw - sqx + sqy - sqz ) ); } else if ( order === 'ZYX' ) { this._x = Math.atan2( 2 * ( q.x * q.w + q.z * q.y ), ( sqw - sqx - sqy + sqz ) ); this._y = Math.asin( clamp( 2 * ( q.y * q.w - q.x * q.z ) ) ); this._z = Math.atan2( 2 * ( q.x * q.y + q.z * q.w ), ( sqw + sqx - sqy - sqz ) ); } else if ( order === 'YZX' ) { this._x = Math.atan2( 2 * ( q.x * q.w - q.z * q.y ), ( sqw - sqx + sqy - sqz ) ); this._y = Math.atan2( 2 * ( q.y * q.w - q.x * q.z ), ( sqw + sqx - sqy - sqz ) ); this._z = Math.asin( clamp( 2 * ( q.x * q.y + q.z * q.w ) ) ); } else if ( order === 'XZY' ) { this._x = Math.atan2( 2 * ( q.x * q.w + q.y * q.z ), ( sqw - sqx + sqy - sqz ) ); this._y = Math.atan2( 2 * ( q.x * q.z + q.y * q.w ), ( sqw + sqx - sqy - sqz ) ); this._z = Math.asin( clamp( 2 * ( q.z * q.w - q.x * q.y ) ) ); } else { console.warn( 'WARNING: Euler.setFromQuaternion() given unsupported order: ' + order ) } this._order = order; if ( update !== false ) this._updateQuaternion(); return this; }, reorder: function () { // WARNING: this discards revolution information -bhouston var q = new THREE.Quaternion(); return function ( newOrder ) { q.setFromEuler( this ); this.setFromQuaternion( q, newOrder ); }; }(), fromArray: function ( array ) { this._x = array[ 0 ]; this._y = array[ 1 ]; this._z = array[ 2 ]; if ( array[ 3 ] !== undefined ) this._order = array[ 3 ]; this._updateQuaternion(); return this; }, toArray: function () { return [ this._x, this._y, this._z, this._order ]; }, equals: function ( euler ) { return ( euler._x === this._x ) && ( euler._y === this._y ) && ( euler._z === this._z ) && ( euler._order === this._order ); }, clone: function () { return new THREE.Euler( this._x, this._y, this._z, this._order ); } };