0, 0];
    goog.vec.Mat3.toEulerZXZ(m0, euler, true);

    assertRoughlyEquals(roll, euler[0], goog.vec.EPSILON);
    assertRoughlyEquals(-tilt, euler[1], goog.vec.EPSILON);
    assertRoughlyEquals(yaw, euler[2], goog.vec.EPSILON);
  }

  function testEulerZXZExtrema() {
    var m0 = goog.vec.Mat3.createFloat32FromArray(
        [1, 0, 0, 0, 0, -1, 0, 1, 0]);
    var m1 = goog.vec.Mat3.createFloat32FromArray(
        [0, 0, 0, 0, 0, 0, 0, 0, 0]);

    var euler = [0, 0, 0];
    goog.vec.Mat3.toEulerZXZ(m0, 