Quaternion to Euler conversion

[TheSonOfThomp]

I've noticed that the order the Euler angles are applied does not match between quaternion.toEuler and quaternion.setFromEuler. For example, this code should do nothing, however it ends up rotating the body. When I pass the optional order param to setFromEuler as 'YZX' I achieve the desired result (i.e. no rotation in this case).

const euler = new CANNON.Vec3(0,0,0)
body.quaternion.toEuler(euler)
body.quaternion.setFromEuler(euler.x, euler.y, euler.z) // does not work
body.quaternion.setFromEuler(euler.x, euler.y, euler.z, 'YZX') // works

It seems like the default order does not match between toEuler and setFromEuler

Also, small request: can we have toEuler return the vector instead of passing a variable in by reference?

[d3x0r]

toEuler only supports one decode mode... and it's hard coded to only use that one order...

[TheSonOfThomp]

@d3x0r I understand that toEuler only supports the one order. My concern is that the order isn't consistent with the default order in setFromEuler. It's simple to work around sure, but I feel like the API design should be internally consistent