1 | /**
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2 | * @author mrdoob / http://mrdoob.com/
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3 | * @author WestLangley / http://github.com/WestLangley
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4 | * @author bhouston / http://exocortex.com
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5 | */
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6 |
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7 | THREE.Euler = function ( x, y, z, order ) {
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8 |
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9 | this._x = x || 0;
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10 | this._y = y || 0;
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11 | this._z = z || 0;
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12 | this._order = order || THREE.Euler.DefaultOrder;
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13 |
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14 | };
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15 |
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16 | THREE.Euler.RotationOrders = [ 'XYZ', 'YZX', 'ZXY', 'XZY', 'YXZ', 'ZYX' ];
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17 |
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18 | THREE.Euler.DefaultOrder = 'XYZ';
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19 |
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20 | THREE.Euler.prototype = {
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21 |
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22 | constructor: THREE.Euler,
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23 |
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24 | _x: 0, _y: 0, _z: 0, _order: THREE.Euler.DefaultOrder,
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25 |
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26 | _quaternion: undefined,
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27 |
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28 | _updateQuaternion: function () {
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29 |
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30 | if ( this._quaternion !== undefined ) {
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31 |
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32 | this._quaternion.setFromEuler( this, false );
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33 |
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34 | }
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35 |
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36 | },
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37 |
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38 | get x () {
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39 |
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40 | return this._x;
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41 |
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42 | },
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43 |
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44 | set x ( value ) {
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45 |
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46 | this._x = value;
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47 | this._updateQuaternion();
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48 |
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49 | },
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50 |
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51 | get y () {
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52 |
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53 | return this._y;
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54 |
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55 | },
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56 |
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57 | set y ( value ) {
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58 |
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59 | this._y = value;
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60 | this._updateQuaternion();
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61 |
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62 | },
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63 |
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64 | get z () {
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65 |
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66 | return this._z;
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67 |
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68 | },
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69 |
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70 | set z ( value ) {
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71 |
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72 | this._z = value;
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73 | this._updateQuaternion();
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74 |
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75 | },
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76 |
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77 | get order () {
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78 |
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79 | return this._order;
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80 |
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81 | },
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82 |
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83 | set order ( value ) {
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84 |
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85 | this._order = value;
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86 | this._updateQuaternion();
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87 |
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88 | },
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89 |
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90 | set: function ( x, y, z, order ) {
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91 |
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92 | this._x = x;
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93 | this._y = y;
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94 | this._z = z;
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95 | this._order = order || this._order;
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96 |
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97 | this._updateQuaternion();
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98 |
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99 | return this;
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100 |
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101 | },
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102 |
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103 | copy: function ( euler ) {
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104 |
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105 | this._x = euler._x;
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106 | this._y = euler._y;
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107 | this._z = euler._z;
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108 | this._order = euler._order;
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109 |
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110 | this._updateQuaternion();
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111 |
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112 | return this;
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113 |
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114 | },
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115 |
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116 | setFromRotationMatrix: function ( m, order ) {
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117 |
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118 | // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
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119 |
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120 | // clamp, to handle numerical problems
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121 |
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122 | function clamp( x ) {
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123 |
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124 | return Math.min( Math.max( x, -1 ), 1 );
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125 |
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126 | }
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127 |
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128 | var te = m.elements;
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129 | var m11 = te[0], m12 = te[4], m13 = te[8];
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130 | var m21 = te[1], m22 = te[5], m23 = te[9];
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131 | var m31 = te[2], m32 = te[6], m33 = te[10];
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132 |
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133 | order = order || this._order;
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134 |
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135 | if ( order === 'XYZ' ) {
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136 |
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137 | this._y = Math.asin( clamp( m13 ) );
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138 |
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139 | if ( Math.abs( m13 ) < 0.99999 ) {
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140 |
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141 | this._x = Math.atan2( - m23, m33 );
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142 | this._z = Math.atan2( - m12, m11 );
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143 |
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144 | } else {
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145 |
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146 | this._x = Math.atan2( m32, m22 );
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147 | this._z = 0;
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148 |
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149 | }
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150 |
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151 | } else if ( order === 'YXZ' ) {
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152 |
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153 | this._x = Math.asin( - clamp( m23 ) );
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154 |
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155 | if ( Math.abs( m23 ) < 0.99999 ) {
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156 |
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157 | this._y = Math.atan2( m13, m33 );
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158 | this._z = Math.atan2( m21, m22 );
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159 |
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160 | } else {
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161 |
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162 | this._y = Math.atan2( - m31, m11 );
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163 | this._z = 0;
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164 |
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165 | }
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166 |
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167 | } else if ( order === 'ZXY' ) {
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168 |
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169 | this._x = Math.asin( clamp( m32 ) );
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170 |
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171 | if ( Math.abs( m32 ) < 0.99999 ) {
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172 |
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173 | this._y = Math.atan2( - m31, m33 );
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174 | this._z = Math.atan2( - m12, m22 );
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175 |
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176 | } else {
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177 |
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178 | this._y = 0;
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179 | this._z = Math.atan2( m21, m11 );
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180 |
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181 | }
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182 |
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183 | } else if ( order === 'ZYX' ) {
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184 |
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185 | this._y = Math.asin( - clamp( m31 ) );
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186 |
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187 | if ( Math.abs( m31 ) < 0.99999 ) {
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188 |
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189 | this._x = Math.atan2( m32, m33 );
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190 | this._z = Math.atan2( m21, m11 );
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191 |
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192 | } else {
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193 |
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194 | this._x = 0;
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195 | this._z = Math.atan2( - m12, m22 );
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196 |
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197 | }
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198 |
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199 | } else if ( order === 'YZX' ) {
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200 |
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201 | this._z = Math.asin( clamp( m21 ) );
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202 |
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203 | if ( Math.abs( m21 ) < 0.99999 ) {
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204 |
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205 | this._x = Math.atan2( - m23, m22 );
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206 | this._y = Math.atan2( - m31, m11 );
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207 |
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208 | } else {
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209 |
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210 | this._x = 0;
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211 | this._y = Math.atan2( m13, m33 );
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212 |
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213 | }
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214 |
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215 | } else if ( order === 'XZY' ) {
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216 |
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217 | this._z = Math.asin( - clamp( m12 ) );
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218 |
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219 | if ( Math.abs( m12 ) < 0.99999 ) {
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220 |
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221 | this._x = Math.atan2( m32, m22 );
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222 | this._y = Math.atan2( m13, m11 );
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223 |
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224 | } else {
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225 |
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226 | this._x = Math.atan2( - m23, m33 );
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227 | this._y = 0;
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228 |
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229 | }
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230 |
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231 | } else {
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232 |
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233 | console.warn( 'WARNING: Euler.setFromRotationMatrix() given unsupported order: ' + order )
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234 |
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235 | }
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236 |
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237 | this._order = order;
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238 |
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239 | this._updateQuaternion();
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240 |
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241 | return this;
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242 |
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243 | },
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244 |
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245 | setFromQuaternion: function ( q, order, update ) {
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246 |
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247 | // q is assumed to be normalized
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248 |
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249 | // clamp, to handle numerical problems
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250 |
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251 | function clamp( x ) {
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252 |
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253 | return Math.min( Math.max( x, -1 ), 1 );
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254 |
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255 | }
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256 |
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257 | // 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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258 |
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259 | var sqx = q.x * q.x;
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260 | var sqy = q.y * q.y;
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261 | var sqz = q.z * q.z;
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262 | var sqw = q.w * q.w;
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263 |
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264 | order = order || this._order;
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265 |
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266 | if ( order === 'XYZ' ) {
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267 |
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268 | this._x = Math.atan2( 2 * ( q.x * q.w - q.y * q.z ), ( sqw - sqx - sqy + sqz ) );
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269 | this._y = Math.asin( clamp( 2 * ( q.x * q.z + q.y * q.w ) ) );
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270 | this._z = Math.atan2( 2 * ( q.z * q.w - q.x * q.y ), ( sqw + sqx - sqy - sqz ) );
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271 |
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272 | } else if ( order === 'YXZ' ) {
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273 |
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274 | this._x = Math.asin( clamp( 2 * ( q.x * q.w - q.y * q.z ) ) );
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275 | this._y = Math.atan2( 2 * ( q.x * q.z + q.y * q.w ), ( sqw - sqx - sqy + sqz ) );
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276 | this._z = Math.atan2( 2 * ( q.x * q.y + q.z * q.w ), ( sqw - sqx + sqy - sqz ) );
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277 |
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278 | } else if ( order === 'ZXY' ) {
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279 |
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280 | this._x = Math.asin( clamp( 2 * ( q.x * q.w + q.y * q.z ) ) );
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281 | this._y = Math.atan2( 2 * ( q.y * q.w - q.z * q.x ), ( sqw - sqx - sqy + sqz ) );
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282 | this._z = Math.atan2( 2 * ( q.z * q.w - q.x * q.y ), ( sqw - sqx + sqy - sqz ) );
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283 |
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284 | } else if ( order === 'ZYX' ) {
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285 |
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286 | this._x = Math.atan2( 2 * ( q.x * q.w + q.z * q.y ), ( sqw - sqx - sqy + sqz ) );
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287 | this._y = Math.asin( clamp( 2 * ( q.y * q.w - q.x * q.z ) ) );
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288 | this._z = Math.atan2( 2 * ( q.x * q.y + q.z * q.w ), ( sqw + sqx - sqy - sqz ) );
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289 |
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290 | } else if ( order === 'YZX' ) {
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291 |
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292 | this._x = Math.atan2( 2 * ( q.x * q.w - q.z * q.y ), ( sqw - sqx + sqy - sqz ) );
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293 | this._y = Math.atan2( 2 * ( q.y * q.w - q.x * q.z ), ( sqw + sqx - sqy - sqz ) );
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294 | this._z = Math.asin( clamp( 2 * ( q.x * q.y + q.z * q.w ) ) );
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295 |
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296 | } else if ( order === 'XZY' ) {
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297 |
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298 | this._x = Math.atan2( 2 * ( q.x * q.w + q.y * q.z ), ( sqw - sqx + sqy - sqz ) );
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299 | this._y = Math.atan2( 2 * ( q.x * q.z + q.y * q.w ), ( sqw + sqx - sqy - sqz ) );
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300 | this._z = Math.asin( clamp( 2 * ( q.z * q.w - q.x * q.y ) ) );
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301 |
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302 | } else {
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303 |
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304 | console.warn( 'WARNING: Euler.setFromQuaternion() given unsupported order: ' + order )
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305 |
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306 | }
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307 |
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308 | this._order = order;
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309 |
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310 | if ( update !== false ) this._updateQuaternion();
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311 |
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312 | return this;
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313 |
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314 | },
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315 |
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316 | reorder: function () {
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317 |
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318 | // WARNING: this discards revolution information -bhouston
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319 |
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320 | var q = new THREE.Quaternion();
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321 |
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322 | return function ( newOrder ) {
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323 |
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324 | q.setFromEuler( this );
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325 | this.setFromQuaternion( q, newOrder );
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326 |
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327 | };
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328 |
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329 |
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330 | }(),
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331 |
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332 | fromArray: function ( array ) {
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333 |
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334 | this._x = array[ 0 ];
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335 | this._y = array[ 1 ];
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336 | this._z = array[ 2 ];
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337 | if ( array[ 3 ] !== undefined ) this._order = array[ 3 ];
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338 |
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339 | this._updateQuaternion();
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340 |
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341 | return this;
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342 |
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343 | },
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344 |
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345 | toArray: function () {
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346 |
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347 | return [ this._x, this._y, this._z, this._order ];
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348 |
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349 | },
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350 |
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351 | equals: function ( euler ) {
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352 |
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353 | return ( euler._x === this._x ) && ( euler._y === this._y ) && ( euler._z === this._z ) && ( euler._order === this._order );
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354 |
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355 | },
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356 |
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357 | clone: function () {
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358 |
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359 | return new THREE.Euler( this._x, this._y, this._z, this._order );
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360 |
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361 | }
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362 |
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363 | };
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