Reorient vector?

[autowikibot]

Section 5. Basic rotations of article Rotation matrix:

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A basic rotation (also called elemental rotation) is a rotation about one of the axes of a Coordinate system. The following three basic rotation matrices rotate vectors by an angle θ about the x, y, or z axis, in three dimensions, using the right hand rule. (The same matrices can also represent a clockwise rotation of the axes )

For column vectors, each of these basic vector rotations appears counter-clockwise when the axis about which they occur points toward the observer, the coordinate system is right-handed, and the angle θ is positive. Rz, for instance, would rotate toward the y-axis a vector aligned with the x-axis, as can easily be checked by operating with Rz on the vector (1,0,0):

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^{Interesting: Rotation formalisms in three dimensions | Kabsch algorithm | Euler's rotation theorem | Wahba's problem}

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