Personally, I'd go through matrix form as an intermediate step. You
alesady know how to go from Euler angles to a matrix, and the equations
for going from axis/angle to matrix are available. I haven't looked
at the latter set of equations for a long time (several weeks now... :-)
but I suspect you can extract the axis and angle from the matrix. Of course,
if you're *generating* VRML then it's easy; just produce a MatrixTransform
node.
By the way, your message mentioned doing X eotation first, followed by Y,
followed by Z. Most people do Y first, then X, then Z (and of course,
order matters).
-- Bernie Roehl University of Waterloo Dept of Electrical and Computer Engineering Mail:[email protected] Voice: (519) 888-4567 x 2607 [work] URL:http://sunee.uwaterloo.ca/~broehl