setFromEuler method

Quaternion setFromEuler(Euler euler, [ bool update = false ])

Implementation

Quaternion setFromEuler(Euler euler, [bool update = false]) {
  final x = euler.x;
  final y = euler.y;
  final z = euler.z;
  final order = euler.order;

  // http://www.mathworks.com/matlabcentral/fileexchange/
  // 	20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/
  //	content/SpinCalc.m

  final c1 = math.cos(x / 2);
  final c2 = math.cos(y / 2);
  final c3 = math.cos(z / 2);

  final s1 = math.sin(x / 2);
  final s2 = math.sin(y / 2);
  final s3 = math.sin(z / 2);

  switch (order) {
    case RotationOrders.xyz:
      _x = s1 * c2 * c3 + c1 * s2 * s3;
      _y = c1 * s2 * c3 - s1 * c2 * s3;
      _z = c1 * c2 * s3 + s1 * s2 * c3;
      _w = c1 * c2 * c3 - s1 * s2 * s3;
      break;

    case RotationOrders.yxz:
      _x = s1 * c2 * c3 + c1 * s2 * s3;
      _y = c1 * s2 * c3 - s1 * c2 * s3;
      _z = c1 * c2 * s3 - s1 * s2 * c3;
      _w = c1 * c2 * c3 + s1 * s2 * s3;
      break;

    case RotationOrders.zxy:
      _x = s1 * c2 * c3 - c1 * s2 * s3;
      _y = c1 * s2 * c3 + s1 * c2 * s3;
      _z = c1 * c2 * s3 + s1 * s2 * c3;
      _w = c1 * c2 * c3 - s1 * s2 * s3;
      break;

    case RotationOrders.zyx:
      _x = s1 * c2 * c3 - c1 * s2 * s3;
      _y = c1 * s2 * c3 + s1 * c2 * s3;
      _z = c1 * c2 * s3 - s1 * s2 * c3;
      _w = c1 * c2 * c3 + s1 * s2 * s3;
      break;

    case RotationOrders.yzx:
       _x = s1 * c2 * c3 + c1 * s2 * s3;
      _y = c1 * s2 * c3 + s1 * c2 * s3;
      _z = c1 * c2 * s3 - s1 * s2 * c3;
      _w = c1 * c2 * c3 - s1 * s2 * s3;
      break;

    case RotationOrders.xzy:
      _x = s1 * c2 * c3 - c1 * s2 * s3;
      _y = c1 * s2 * c3 - s1 * c2 * s3;
      _z = c1 * c2 * s3 + s1 * s2 * c3;
      _w = c1 * c2 * c3 + s1 * s2 * s3;
      break;
    default:
      throw('THREE.Quaternion: .setFromEuler() encountered an unknown order: $order');
  }

  if (update) onChangeCallback();

  return this;
}