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/**
* @author WestLangley / http://github.com/WestLangley
* @author thezwap / http://github.com/thezwap
*/
THREE.MathUtils = {
setQuaternionFromProperEuler: function ( q, a, b, c, order ) {
// Intrinsic Proper Euler Angles - see https://en.wikipedia.org/wiki/Euler_angles
// rotations are applied to the axes in the order specified by 'order'
// rotation by angle 'a' is applied first, then by angle 'b', then by angle 'c'
// angles are in radians
var cos = Math.cos;
var sin = Math.sin;
var c2 = cos( b / 2 );
var s2 = sin( b / 2 );
var c13 = cos( ( a + c ) / 2 );
var s13 = sin( ( a + c ) / 2 );
var c1_3 = cos( ( a - c ) / 2 );
var s1_3 = sin( ( a - c ) / 2 );
var c3_1 = cos( ( c - a ) / 2 );
var s3_1 = sin( ( c - a ) / 2 );
if ( order === 'XYX' ) {
q.set( c2 * s13, s2 * c1_3, s2 * s1_3, c2 * c13 );
} else if ( order === 'YZY' ) {
q.set( s2 * s1_3, c2 * s13, s2 * c1_3, c2 * c13 );
} else if ( order === 'ZXZ' ) {
q.set( s2 * c1_3, s2 * s1_3, c2 * s13, c2 * c13 );
} else if ( order === 'XZX' ) {
q.set( c2 * s13, s2 * s3_1, s2 * c3_1, c2 * c13 );
} else if ( order === 'YXY' ) {
q.set( s2 * c3_1, c2 * s13, s2 * s3_1, c2 * c13 );
} else if ( order === 'ZYZ' ) {
q.set( s2 * s3_1, s2 * c3_1, c2 * s13, c2 * c13 );
} else {
console.warn( 'THREE.MathUtils: .setQuaternionFromProperEuler() encountered an unknown order.' );
}
}
};
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