Oct 03, 2015 · File:Orthogonal decomposition unit vector rodrigues rotation formula.svg. From Wikimedia Commons, the free media repository. Jump to navigation Jump to search. File; See full list on rotations.berkeley.edu
Converting a rotation matrix for a single rotation of "a" degrees around the Z-axis is easy enough, as this becomes: cos(a) -sin(a) 0 sin(a) cos(a) 0 0 0 1. And working your way from there to get a direction vector isn't too hard. However, obviously ODE's rotation matrices are combinations of This MATLAB function returns a 3-D rotation matrix that corresponds to the input axis-angle rotation vector.
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