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Rotation around the Y axis

Doing a couple of rotations in Matlab that rotates around the y-axis, however I found two different answers on the net: here and here . What is right, if both, how to get to the other?

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The two answers you link to are the same, right down to different notation. The angle q in one link corresponds to the angle -a in the other, and since

sin(-q) = -sin(q)

for any q

, we have that



sin(a) = -sin(q)

which introduces the difference in sign. The siggraph link also has a 4-dimensional matrix that allows translations, but the last row and column of this can be ignored if you want pure rotation.

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