testMakeEulerZXZ() {
    var m0 = goog.vec.Mat3.createFloat32();
    var roll = 0.200982 * 2 * Math.PI;
    var tilt = 0.915833 * Math.PI;
    var yaw = 0.839392 * 2 * Math.PI;

    goog.vec.Mat3.makeRotate(m0, roll, 0, 0, 1);
    goog.vec.Mat3.rotate(m0, tilt, 1, 0, 0);
    goog.vec.Mat3.rotate(m0, yaw, 0, 0, 1);

    var m1 = goog.vec.Mat3.createFloat32();
    goog.vec.Mat3.makeEulerZXZ(m1, roll, tilt, yaw);
    assertElementsRoughlyEqual(m0, m1, goog.vec.EPSILON);


    var euler = [0, 0, 0];
    goog.ve