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I and just getting to grips with basic 3D rotation and have come across two nice examples, however they are different when calculating the Y axis rotation and I was wondering why and which is correct ? Or are they both correct for some convention I have mist?

Many thank IMK

1:

Yout = Yin;

Xout = Xin * cos(Theta) - Zin * sin(Theta)

Zout = Zin * cos(Theta) + Xin * sin(Theta)

2:

Yout = Yin;

Xout = Zin * sin(Theta) + Xin * cos(Theta)

Zout = Zin * cos(Theta) - Xin * sin(Theta)

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# 3D Rotation which is correct

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