Twister is a freeware rotation calculator that converts
an Euler rotation (i.e. components about the three x y
and z axes) into an axis-angle representation. An Euler
rotation is entered as 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 application includes online help and
tooltips, making it easy to use. It is intended for use
with VRML, but feel free to use it for other
applications if you feel the need. It may be useful for
OpenGL and other graphics applications that use a
right-handed coordinate system.

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