Combining Two 3D Rotations
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The concentric rotations and
can be combined either by doing
first and then
, written as
, or
first and then
, written as
. This right-to-left notation comes from the algebra of dot products,
and
, where
is a vector and
and
are the matrices representing the rotations
and
.
Contributed by: George Beck and Jeff Bryant (September 2007)
Open content licensed under CC BY-NC-SA
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