diff --git a/src/LinearMath/btMatrix3x3.h b/src/LinearMath/btMatrix3x3.h
index c5f220b43..2ed3239cb 100644
--- a/src/LinearMath/btMatrix3x3.h
+++ b/src/LinearMath/btMatrix3x3.h
@@ -159,16 +159,15 @@ class btMatrix3x3 {
 		}
 
 	/** @brief Set the matrix from euler angles YPR around ZYX axes
-	 * @param eulerX Roll about X axis
-         * @param eulerY Pitch around Y axis
          * @param eulerZ Yaw aboud Z axis
+         * @param eulerY Pitch around Y axis
+	 * @param eulerX Roll about X axis
          * 
 	 * These angles are used to produce a rotation matrix. The euler
 	 * angles are applied in ZYX order. I.e a vector is first rotated 
 	 * about X then Y and then Z
 	 **/
-	void setEulerZYX(btScalar eulerX,btScalar eulerY,btScalar eulerZ) { 
-  ///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code
+	void setEulerZYX(btScalar eulerZ, btScalar eulerY,btScalar eulerX) { 
 		btScalar ci ( btCos(eulerX)); 
 		btScalar cj ( btCos(eulerY)); 
 		btScalar ch ( btCos(eulerZ));