chubrik / Rotation3D

The reference of formulas for converting various 3D rotation formats.

Rotation3D

The reference of formulas for converting various 3D rotation formats.

Euler angles are right-handed with YXZ axis priority order, where Y (up) is yaw, X (right) is pitch, and Z (back) is roll.

Normalized converting

	To AxisAngle	To EulerAngles	To Matrix4x4	To Quaternion
AxisAngle	–	✅ Tested	✅ Tested	✅ Tested
EulerAngles	❌ Not yet	–	✅ Tested	✅ Tested
Matrix4x4	❌ Not yet	✅ Tested	–	✅ Tested
Quaternion	⚠️ Draft	✅ Tested	✅ Tested	–

Not normalized converting

	To AxisAngle	To EulerAngles	To Matrix4x4	To Quaternion
AxisAngle	–	❌ Not yet	❌ Not yet	❌ Not yet
EulerAngles	❌ Not yet	–	❌ Not yet	❌ Not yet
Matrix4x4	❌ Not yet	✅ Tested	–	❌ Not yet
Quaternion	❌ Not yet	✅ Tested	❌ Not yet	–