[ODE] Rotation about Z-axis clockwise ?

[thomas.miconi@free.fr]

 Quoting Antonio Tejada Lacaci <wildfred@teleline.es>:  
> For example, if I rotate around Z 90 degrees,   
>   
>         dRFromAxisAndAngle(m3, 0, 0, 1, M_PI / 2);  
>   
> I get as final matrix:  
>   
>  (0.000000, -1.000000, 0.000000)  
>  (1.000000, 0.000000, 0.000000)  
>  (0.000000, 0.000000, 1.000000)   
>   
> Which is what I expect, because when doing that rotation, X becomes -Y  
> and Y becomes X:  
  
  
That's precisely what I just can't get. In a plain direct orthogonal basis, if 
Z points to you ("out" of the screen), X points to the right and Y to the top 
(as seen on the link below - and on the first 3 fingers of my right hand). 
 
So after applying a Pi/2 rotation, it seems to me that X and Y should  
rotate counterclockwise, X should become Y, and Y become -X.  
  
Damn damn damn (I should have worked a bit more in 1st year physics classes  
:-)  
  
http://www.schorsch.com/kbase/glossary/right_hand_rule.html  
  
Amicalement,  
Thomas  
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