In left-handed coordinate system, positive angle is clockwise direction. In right-handed coordinate system, positive angle is anti-clockwise direction.

I spent many hours to find out how to convert rotation matrices of left-handed coordinate system. The solution is to replace the angle with

The rotation matrices about three axis in left-handed coordinate system.

The rotation matrix about arbitrary axis

To get in right-handed coordinate system, replace the angle with negative . Then apply the following rules.

Reference

3D Math Primer for Graphics and Game Development 2ed, Fletcher Dunn, Ian Parberry

Mathematics for 3D Game Programming and Computer Graphics 3ed, Eric Lengyel

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About janpenguin

Email: k2.mountain [at] gmail [dot] com
Every content on the blog is made by Free and Open Source Software in GNU/Linux.

Thank you bro,

What does Nx Ny and Nz mean?

They are X, Y, and Z components of unit vector n for arbitrary axis.

The homepage on the link explains unit vector with examples.

https://cloudshareinfo.blogspot.com/2020/02/how-to-find-unit-vector.html