version (11.2 KB) by Norman
Simple tool to visualize multiple consecutative 3D rotations via animation


Updated 11 Apr 2017

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Dealing with multiple 3D rotations is usally confusing and difficult to figure out. Specially consicative rotations about intrinsic (relative) and extrinsic (static) refrence coordinates are tricky.


I have develepoed a simple Matlab GUI application to visualize those rotations in the form of animation and give rotation matrix corresponding to the final orientation.

How to use: Simply specify the following 3 inputs in the GUI

1. Rotation type:
-> Relative - successive rotations would be carried out about the axes of the newly rotated coordinate system. This kind of rotation are sometimes called intrinsic rotations.
-> Static - successive rotations are carried about the axes of a fixed coordinate system. These rotations are sometimes called extrinsic rotations.

2. Rotation angles: - here you just put rotation angles in degrees separated by space.

3. Rotation Axis: Here the axsi about which rotations are done should be specified as space separated x y or z.

Eg: To rotate 30 deg about x, and then 20 deg about the new y and -45 deg about the new z, you need the following inputs
Rotation Angles: 30 20 -45
Rotation Axis: x y z

NB: The number of rotation angles and rotation axis are not limited except that they should be of equal length.

Cite As

Norman (2022). RotationViewer() (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2015a
Compatible with any release
Platform Compatibility
Windows macOS Linux

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