Rotation in x, y axises follow Right Hand Rule

[maciej-mo-sys (Maciej)]

@jwatte

• The Y vector, rotated positive around X, yields the Z vector. In a left-handed coordinate system, this yields the left-handed rotation rule.
• The Z vector, rotated positive around Y, yields the X vector. In a left-handed coordinate system, this yields the left-handed rotation rule.
  .

It doesn’t seem to be correct. X vector rotated 90 degrees around Z, does yields Y, BUT:
The Y vector, rotated positive around X, yields negative Z vector
The Z vector, rotated positive around Y, yields negative X vector

I need to work with quaternions and this brought some confusion. Obviously the coded maths works fine, it’s just a bit strange that indeed the left-hand rule is not consistently applied here. This is also visible in Henry Read’s formulas in #2 post.

See, pictures attached:

Identity (0 rotations)

Yaw = 90 degrees (rot around Z)

Roll = 90 degrees (rot around X)

Pitch = 90 degrees (rot around Y)