Rotation3D, MatrixRotation3D ?

*To*: mathgroup at smc.vnet.net*Subject*: [mg30388] Rotation3D, MatrixRotation3D ?*From*: "ojg" <ole.jonny.gjoen at hitecvision.com>*Date*: Tue, 14 Aug 2001 03:45:41 -0400 (EDT)*Sender*: owner-wri-mathgroup at wolfram.com

Question regarding rotations. Some of the documentation found regarding this is not as far as I can see complete in the documentation, at least the subject is difficult enough to make me unsure once not 100% clear:) Fist, what are the defined "euler angles" in mathematica, and in what order are they applied? Second, of which side of the vector is the rotational matrix multiplied ? Third, is there a mathematica way to rotate around an abitrary rotational axis? If not, what would the mathematica matix be for this? My problem to solve is as follows: Given three rotational angles (a,b,c) applied in order to the following three rotational axes: Y axis, X axis, Z axis. (usual right hand system). This rotation applied to any vector v will give you a vector V (first Y rotation applied on v, etc). Now, given a rotational matrix with pure numerical values in, I need to find the three angles, and I need a general formulae for this solution taking care of the special cases. Thanks, Johnny