VT Twister Twister application will convert a three-axis style Euler rotation into a axis-angle style rotation.
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VT Twister Description

Twister application will convert a three-axis style Euler rotation into a axis-angle style rotation. An Euler rotation is defined by three values, each one a rotation about the X Y or Z axis. Twister assumes that the three values rotate around the X Y and Z axes respectively. Also, the rotation calculations are done in this order. The input is three floating-point values representing the rotations around each axis. These are entered into the appropriate boxes at the top of the window. If an invalid value is entered, the box is reset to zero on update. To update the result, press the Update button or hit Enter. The result at the bottom of the window will be recalculated and displayed. The input can be entered in either radians or degrees by setting the appropriate choice on the radio buttons. If you enter a number, and switch to the other angle measurement, the numbers already entered will be converted to the current measure. So, if you enter 180 degrees and press the 'radians' button, the number will be converted to 3.14 radians. The output is a VRML-style axis-angle orientation. The first three values define an axis about which to rotate, and the last value is the amount (in radians) to rotate about this axis. This is the correct format to be pasted directly into a VRML file. This can be done using the copy button to copy the result directly onto the clipboard.

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