gyroscope rotation angles

//...
var m_cam = require("camera");
var m_ctl = require("controls");
var m_quat = require("quat");
var m_scenes = require("scenes");
var m_trans = require("transform");
var m_util = require("util");
var m_vec3  = require("vec3");

var _last_gyro_quat = m_quat.create();

var _quat_tmp = m_quat.create();
var _quat_tmp2 = m_quat.create();
var _vec3_tmp = m_vec3.create();
// ...
function create_rotation_sensors() {
    var obj = m_scenes.get_active_camera();
    var g_sensor = m_ctl.create_gyro_angles_sensor();
    var save_angles = true;

    var rotate_cb = function(obj, id, pulse) {
        if (pulse > 0) {

            var curr_angles = m_ctl.get_sensor_payload(obj, id, 0);
            if (m_cam.is_eye_camera(obj)) {
                var alpha = curr_angles[2];
                var beta  = curr_angles[1];
                var gamma = curr_angles[0];

                // 1) Using alpha, beta, gamma set up quaternion in local space.
                // http://w3c.github.io/deviceorientation/spec-source-orientation.html
                var quaternion = _quat_tmp;
                var c1 = Math.cos(alpha / 2);
                var c2 = Math.cos(beta  / 2);
                var c3 = Math.cos(gamma / 2);
                var s1 = Math.sin(alpha / 2);
                var s2 = Math.sin(beta  / 2);
                var s3 = Math.sin(gamma / 2);
                quaternion[0] = c1 * s2 * c3 - s1 * c2 * s3;
                quaternion[1] = c1 * c2 * s3 + s1 * s2 * c3;
                quaternion[2] = s1 * c2 * c3 + c1 * s2 * s3;
                quaternion[3] = c1 * c2 * c3 - s1 * s2 * s3;

                // 2) Get a screen rotation quaternion (use windows.orientation). window.orientation is undefined in desktop browsers
                var orientation = Math.PI * window.orientation / 180;
                var screen_quat = m_quat.setAxisAngle(m_util.AXIS_Z,
                        -orientation, _quat_tmp2);

                // 3) Multiply quaternion from item 1) to quaternion from item 2)
                quaternion = m_quat.multiply(quaternion, screen_quat, _quat_tmp);

                // 4) WebGL world space quaternion
                var quat = m_quat.setAxisAngle(m_util.AXIS_X, Math.PI / 2,
                        _quat_tmp2);
                // 5) Multiply quaternion from item 3) to quaternion from item 4)
                quaternion = m_quat.multiply(quaternion, quat, _quat_tmp);

                // Some behavior stuff
                if (save_angles) {
                    m_quat.copy(quaternion, _last_gyro_quat);
                    save_angles = false;
                } else {
                    var last_gyro_inv_quat = m_quat.invert(_last_gyro_quat, _last_gyro_quat);
                    var cam_quat = m_trans.get_rotation(obj, _quat_tmp2);
                    var clear_cam_quat = m_quat.multiply(cam_quat, last_gyro_inv_quat, _quat_tmp2);
                    var new_cam_quat = m_quat.multiply(clear_cam_quat, quaternion, _quat_tmp2);

                    var up_axis = m_vec3.transformQuat(m_util.AXIS_MZ,
                            new_cam_quat, _vec3_tmp);
                    // 6) Set up vertical axis. 
                    m_cam.set_vertical_axis(obj, up_axis);
                    // 7) Set up rotation quaternion to camera
                    m_trans.set_rotation_v(obj, new_cam_quat);
                    m_quat.copy(quaternion, _last_gyro_quat);
                }
            }
        }
    }
    m_ctl.create_sensor_manifold(obj, "ROTATE_GYRO", 
            m_ctl.CT_CONTINUOUS, [g_sensor], null, rotate_cb);
}

};