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Jun 22nd, 2017
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  1.     toYawPitchRoll: function() {
  2.         var ret = this.toYawPitch();
  3.         ret.roll = 0;
  4.         return ret;
  5.  
  6.         if (Math.abs(this.z) < 0.99) {
  7.             var ret = this.toYawPitch();
  8.             ret.roll = this.w/(Math.PI/180.0);
  9.             return ret;
  10.         } else {
  11.             return {
  12.                 yaw: this.w/(Math.PI/180.0) * (this.z < 0 ? 1 : -1),
  13.                 pitch: this.z > 0 ? -90 : 90,
  14.                 roll: 0,
  15.             };
  16.         }
  17.     },
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