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A2.6 Converting Euler Rotations to a 3×3 Matrix

The Euler notation used by Dynamic Visualizer can be simulated by building the required rotation matrix. Here are the definitions for rotations about the x, y, and z axes.

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Example: Rotate the object about the z axis using a 3×3 matrix.

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The definition of the Z-Y-Z Euler rotation may be expressed as the product of three rotation matrices.

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Using this definition, we could write a new version of EulerAngles that uses a calculated rotation matrix instead of the built-in definition of the EulerAngles rule.

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