Animated Cube Rotations in Simulink and V-Realm Builder

I have a cube that I need to animate in Simulink and have currently drawn it using V-Realm builder. Using rotation as the input to the VR Sink block in Simulink I have been able to rotate the cube about an axis, but it isn't doing what I need. The cube needs to start on a corner and then spin about that corner. Simulink is outputting angles corresponding to yaw,pitch, and roll (rotations about Y,X,Z in normal X,Y plane) but the input for a rotation is a 4 vector describing a single axis of rotation with the angle of rotation. How can I take my three rotations and condense them down to a single axis of rotation?

Answer 1

[Allwin Lucious]

you need to use Quaternions. check out https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation