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## Compute 3D rotation matrix

version 1.0.0.0 (682 Bytes) by
Simplifies computation of 3D rotation matrices.

Updated 24 Mar 2009

Given input:
r: angle to rotate, in rads
Axis: axis of rotation, defined as a 3point which connects to the origin.

Output:
3x3 Matrix R such that for an arbitrary point v, Rv is the point corresponding to v rotated around the Axis.

% example:
% rotate around a random direction a random amount and then back
% the result should be an Identity matrix

r = rand(4,1);
rotationmat3D(r(1),[r(2),r(3),r(4)]) * rotationmat3D(-r(1),[r(2),r(3),r(4)])

ans =

1.0000 0.0000 0.0000
0.0000 1.0000 0
0.0000 0 1.0000

%
% example2:
% rotate around z axis 45 degrees
Rtest = rotationmat3D(pi/4,[0 0 1])
Rtest =

0.7071 -0.7071 0
0.7071 0.7071 0
0 0 1.0000

### Cite As

Stanley (2021). Compute 3D rotation matrix (https://www.mathworks.com/matlabcentral/fileexchange/23417-compute-3d-rotation-matrix), MATLAB Central File Exchange. Retrieved .

##### MATLAB Release Compatibility
Created with R2009a
Compatible with any release
##### Platform Compatibility
Windows macOS Linux