RotationMatrix
2D/3D• RotationMatrix[bnum] returns the 2D/3D rotation matrix associated with body bnum.
• In Modeler2D, RotationMatrix[{ang}] or RotationMatrix[{ei, ej}] returns the rotation matrix associated with the given angle or Euler parameters.
• In Modeler3D, RotationMatrix[{ang, vector}] or RotationMatrix[{eo, ei, ej, ek}] returns the rotation matrix associated with the given angle and axis of rotation, or associated with the given Euler parameters. • The 2D rotation matrix in terms of a rotation ang is defined as
• In terms of 2D Euler parameters, the rotation matrix is simply
• The 3D rotation matrix in terms of Euler parameters is defined as
• When transforming an angle-axis, the Assumptions->Normalized option may be given to cause RotationMatrix to assume that vector is a unit vector, thus simplifying the result. The default setting is Assumptions->None.
• In Modeler3D, RotationMatrix[vector] returns the rotation matrix associated with the given virtual rotation vector {vx, vy, vz}.
• When RotationMatrix is used to transform a virtual rotation or an angle-axis, vector may be a simple vector or a Mech vector object with head Vector, Line, or Plane.
• See also: EulerParameters, Rotation, VirtualRotation. Further Examples Load the Modeler3D package. Here is the rotation matrix for body 2, expressed in terms of Euler parameters.
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Here is the rotation matrix representing a rotation of  /4 about the X axis.
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Here is the rotation matrix generally representing a rotation about an axis, assuming that the given axis is normalized.
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