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Re: Rotation3D, MatrixRotation3D ?

  • To: mathgroup at
  • Subject: [mg30401] Re: Rotation3D, MatrixRotation3D ?
  • From: "Kevin J. McCann" <kevinmccann at>
  • Date: Wed, 15 Aug 2001 01:04:07 -0400 (EDT)
  • References: <9lalnl$cd3$>
  • Sender: owner-wri-mathgroup at

I believe the documentation for RotationMatrix3D says it all.
    1) Rotate by phi about z-axis
    2) Rotate by theta about the new x-axis
    3) Rotate by psi about the even newer z-axis
This is a rotation of the coordinate system, NOT the vector. To rotate the
vector instead you must reverse the order and signs of the angles. As far as
your problem goes, I am not sure about the statement. Are the three angles
the angles from the 3 axes of your new vector or ...?


"ojg" <ole.jonny.gjoen at> wrote in message
news:9lalnl$cd3$1 at
> 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
> 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
> 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
> the three angles, and I need a general formulae for this solution taking
> care of the special cases.
> Thanks,
> Johnny

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