What direction of rotation is used in vrrotvec function?

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Is it right-handed or left-handed rotation in vrml functions such as vrrotvec?

I thaught VRML uses left-handed, but for example:

    % rotating vector pointing UP  to vector pointing LEFT
    vr = vrrotvec([0 1 0], [-1 0 0]);
    % returns:
    0         0    1.0000    1.5708

So, here we see that rotation is righthanded? So in Matlab VRML we use right-handed rotation?

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Answer 1

Jan Danek 2012-6-25

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Hi Evgheny,

VRML uses right-handed convention for rotations. See also here:

In accord with this, utility functions provided in Simulink 3D Animation use also right-handed convention.

All the best,

Jan

Evgheny 2012-6-25

编辑：Evgheny 2012-7-2

Thank you. I've also found this doc: http://www.mathworks.com/help/toolbox/sl3d/f2-36380.html#f2-30068 where is said about right-handed direction too