Hello,

I am trying to rotate point p(3,0,0) with a vector dir(1,0,0) to a new direction dir2(0,1,0), wich means a 90º rotation around the z axis. But I’m having a problem with the code bellow wich returns me p2(0.875780;1.363946;-2.524413) instead of p2(0,3,0)… atm I can’t locate the problem… does anyone have any idea?

Thanks

```
CVector p(3,0,0),p2(0,0,0);
CVector dir(1,0,0);
CVector dir2(0,1,0);
float alfa,beta,gama;
alfa=dir.x-dir2.x;
gama=dir.y-dir2.y;
beta=dir.z-dir2.z;
float x,y,z;
float cos_alfa=cos(alfa);
float sin_alfa=sin(alfa);
float cos_beta=cos(beta);
float sin_beta=sin(beta);
float cos_gama=cos(gama);
float sin_gama=sin(gama);
x=p.x;
y=p.y;
z=p.z;
p2.x=x* ( cos_alfa * cos_gama ) +
y* ( cos_alfa * sin_gama * sin_beta - sin_alfa * cos_beta ) +
z* ( cos_alfa * sin_gama * sin_beta - sin_alfa * cos_beta );
p2.y=x* ( sin_alfa * cos_gama ) +
y* ( sin_alfa * sin_gama * sin_beta - cos_alfa * cos_beta ) +
z* ( sin_alfa * sin_gama * cos_beta - cos_alfa * cos_beta );
p2.z= -x * sin_alfa + z* ( cos_gama * sin_beta );
printf("Table:
");
printf("Pos p(%f;%f;%f)
",x,y,z);
printf("Dir v(%f;%f;%f)
",dir.x,dir.y,dir.z);
printf("Dir v2(%f;%f;%f)
",dir2.x,dir2.y,dir2.z);
printf("Alfa: %f
",alfa);
printf("Gama: %f
",gama);
printf("Beta: %f
",beta);
printf("Pos p2(%f;%f;%f)
",p2.x,p2.y,p2.z);
```