tarea id="resa" rows="1" cols="85" readonly></textarea>
<p>Axis with angle magnitude<span name="spanangleres"> (radians)</span> [x, y, z]
<br /><textarea id="resr" rows="1" cols="85" readonly></textarea>
<p>Euler angles<span name="spanangleres"> (radians)</span>
<select id="reseuler" onchange="doOutput()">
<option value="XYZ" selected>XYZ</option>
<option value="XZY">XZY</option>
<option value="YXZ">YXZ</option>
<option value="YZX">YZX</option>
<option value="ZXY">ZXY</option>
<option value="ZYX">ZYX</optio