Online computer calculates the rotation of a 3x3 matrix around the Y, X and Z axes
To perform the calculation, enter the rotation angles. Then click the button 'Calculate'
The unit of measurement for angles can be switched between degrees or radians
Active rotation (rotating object) or passive rotation (rotating coordinates) can be calculated

The matrix rotation distinguishes between active and passive rotation.
With active rotation, the vector or the object is rotated in the coordinate system. The active rotation is also called a geometric transformation. The rotation is counterclockwise.
Example of a 90 ° rotation of the Xaxis
With passive rotation, the coordinate system is rotated. The vector remains unchanged. The rotation is clockwise.
Example of a 90 ° rotation of the Xaxis
A 3D body can be rotated around three axes. These rotations are called yaw pitch rolls.
Yaw is the counterclockwise rotation of the Zaxis. The rotation matrix looks like this
Pitch is the counterclockwise rotation of the Yaxis. The next figure shows the rotation matrix for this
Roll is the counterclockwise rotation of the X axis. The rotation matrix for the Xaxis is shown in the next figure
Each rotation matrix is a simple extension of the 2D rotation matrix. For example, the Yaw matrix essentially performs a 2D rotation with respect to the coordinates while the coordinate remains unchanged. So the third row and the third column look like part of the identity matrix, while the top right part looks like the 2D rotation matrix.
The yaw, pitch and roll rotations can be used to place a 3D body in any direction. A single rotation matrix can be formed by multiplying the matrices.
