Possible logic error in MathUtil.quatToTaitBryan

[peteroupc]

The method MathUtil.quatToTaitBryan, in h3du-math.js converts a quaternion to three angles giving the pitch, yaw, and roll. The current implementation of the method may have a logic error but I can't see it. The return value of the method as currently written, when passed to quatFromTaitBryan, will return the correct quaternion but with the wrong signs.