var Clamp = require('./Clamp'); 
var Class = require('../utils/Class'); 
var Matrix4 = require('./Matrix4'); 
var NOOP = require('../utils/NOOP'); 
var tempMatrix = new Matrix4(); 
var Euler = new Class({ 
initialize: function Euler(x, y, z, order){ 
if (x === undefined) { 
x = 0; 
} 
if (y === undefined) { 
y = 0; 
} 
if (z === undefined) { 
z = 0; 
} 
if (order === undefined) { 
order = Euler.DefaultOrder; 
} 
this._x = x; 
this._y = y; 
this._z = z; 
this._order = order; 
this.onChangeCallback = NOOP; 
} 
,
x: { 
get: function (){ 
return this._x; 
} 
,
set: function (value){ 
this._x = value; 
this.onChangeCallback(this); 
} 
}
,
y: { 
get: function (){ 
return this._y; 
} 
,
set: function (value){ 
this._y = value; 
this.onChangeCallback(this); 
} 
}
,
z: { 
get: function (){ 
return this._z; 
} 
,
set: function (value){ 
this._z = value; 
this.onChangeCallback(this); 
} 
}
,
order: { 
get: function (){ 
return this._order; 
} 
,
set: function (value){ 
this._order = value; 
this.onChangeCallback(this); 
} 
}
,
set: function (x, y, z, order){ 
if (order === undefined) { 
order = this._order; 
} 
this._x = x; 
this._y = y; 
this._z = z; 
this._order = order; 
this.onChangeCallback(this); 
return this; 
} 
,
copy: function (euler){ 
return this.set(euler.x, euler.y, euler.z, euler.order); 
} 
,
setFromQuaternion: function (quaternion, order, update){ 
if (order === undefined) { 
order = this._order; 
} 
if (update === undefined) { 
update = false ; 
} 
tempMatrix.fromQuat(quaternion); 
return this.setFromRotationMatrix(tempMatrix, order, update); 
} 
,
setFromRotationMatrix: function (matrix, order, update){ 
if (order === undefined) { 
order = this._order; 
} 
if (update === undefined) { 
update = false ; 
} 
var elements = matrix.val; 
var m11 = elements[0]; 
var m12 = elements[4]; 
var m13 = elements[8]; 
var m21 = elements[1]; 
var m22 = elements[5]; 
var m23 = elements[9]; 
var m31 = elements[2]; 
var m32 = elements[6]; 
var m33 = elements[10]; 
var x = 0; 
var y = 0; 
var z = 0; 
var epsilon = 0.99999; 
switch (order){ 
case 'XYZ': { 
y = Math.asin(Clamp(m13, -1, 1)); 
if (Math.abs(m13) < epsilon) { 
x = Math.atan2(- m23, m33); 
z = Math.atan2(- m12, m11); 
} 
 else { 
x = Math.atan2(m32, m22); 
} 
break ; 
} 
case 'YXZ': { 
x = Math.asin(- Clamp(m23, -1, 1)); 
if (Math.abs(m23) < epsilon) { 
y = Math.atan2(m13, m33); 
z = Math.atan2(m21, m22); 
} 
 else { 
y = Math.atan2(- m31, m11); 
} 
break ; 
} 
case 'ZXY': { 
x = Math.asin(Clamp(m32, -1, 1)); 
if (Math.abs(m32) < epsilon) { 
y = Math.atan2(- m31, m33); 
z = Math.atan2(- m12, m22); 
} 
 else { 
z = Math.atan2(m21, m11); 
} 
break ; 
} 
case 'ZYX': { 
y = Math.asin(- Clamp(m31, -1, 1)); 
if (Math.abs(m31) < epsilon) { 
x = Math.atan2(m32, m33); 
z = Math.atan2(m21, m11); 
} 
 else { 
z = Math.atan2(- m12, m22); 
} 
break ; 
} 
case 'YZX': { 
z = Math.asin(Clamp(m21, -1, 1)); 
if (Math.abs(m21) < epsilon) { 
x = Math.atan2(- m23, m22); 
y = Math.atan2(- m31, m11); 
} 
 else { 
y = Math.atan2(m13, m33); 
} 
break ; 
} 
case 'XZY': { 
z = Math.asin(- Clamp(m12, -1, 1)); 
if (Math.abs(m12) < epsilon) { 
x = Math.atan2(m32, m22); 
y = Math.atan2(m13, m11); 
} 
 else { 
x = Math.atan2(- m23, m33); 
} 
break ; 
} 
} 
this._x = x; 
this._y = y; 
this._z = z; 
this._order = order; 
if (update) { 
this.onChangeCallback(this); 
} 
return this; 
} 
}
); 
Euler.RotationOrders = ['XYZ', 'YXZ', 'ZXY', 'ZYX', 'YZX', 'XZY'] ; 
Euler.DefaultOrder = 'XYZ'; 
module.exports = Euler;