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  2. Spherical coordinate system - Wikipedia

    en.wikipedia.org/wiki/Spherical_coordinate_system

    Once the radius is fixed, the three coordinates (r, θ, φ), known as a 3-tuple, provide a coordinate system on a sphere, typically called the spherical polar coordinates. The plane passing through the origin and perpendicular to the polar axis (where the polar angle is a right angle ) is called the reference plane (sometimes fundamental plane ).

  3. Spherical trigonometry - Wikipedia

    en.wikipedia.org/wiki/Spherical_trigonometry

    Case 3: two sides and an opposite angle given (SSA). The sine rule gives C and then we have Case 7. There are either one or two solutions. Case 4: two angles and an included side given (ASA). The four-part cotangent formulae for sets (cBaC) and (BaCb) give c and b, then A follows from the sine rule. Case 5: two angles and an opposite side given ...

  4. Solid angle - Wikipedia

    en.wikipedia.org/wiki/Solid_angle

    The solid angle of a sphere measured from any point in its interior is 4 π sr. The solid angle subtended at the center of a cube by one of its faces is one-sixth of that, or 2 π /3 sr. The solid angle subtended at the corner of a cube (an octant) or spanned by a spherical octant is π /2 sr, one-eight of the solid angle of a sphere. [1]

  5. Rotation matrix - Wikipedia

    en.wikipedia.org/wiki/Rotation_matrix

    To find the angle of a rotation, once the axis of the rotation is known, select a vector v perpendicular to the axis. Then the angle of the rotation is the angle between v and Rv. A more direct method, however, is to simply calculate the trace: the sum of the diagonal elements of the rotation

  6. Quaternions and spatial rotation - Wikipedia

    en.wikipedia.org/wiki/Quaternions_and_spatial...

    3D visualization of a sphere and a rotation about an Euler axis (^) by an angle of In 3-dimensional space, according to Euler's rotation theorem, any rotation or sequence of rotations of a rigid body or coordinate system about a fixed point is equivalent to a single rotation by a given angle about a fixed axis (called the Euler axis) that runs through the fixed point. [6]

  7. Axis–angle representation - Wikipedia

    en.wikipedia.org/wiki/Axis–angle_representation

    The angle θ and axis unit vector e define a rotation, concisely represented by the rotation vector θe.. In mathematics, the axis–angle representation parameterizes a rotation in a three-dimensional Euclidean space by two quantities: a unit vector e indicating the direction of an axis of rotation, and an angle of rotation θ describing the magnitude and sense (e.g., clockwise) of the ...

  8. List of common coordinate transformations - Wikipedia

    en.wikipedia.org/wiki/List_of_common_coordinate...

    Let (x, y, z) be the standard Cartesian coordinates, and (ρ, θ, φ) the spherical coordinates, with θ the angle measured away from the +Z axis (as , see conventions in spherical coordinates). As φ has a range of 360° the same considerations as in polar (2 dimensional) coordinates apply whenever an arctangent of it is taken. θ has a range ...

  9. Polar coordinate system - Wikipedia

    en.wikipedia.org/wiki/Polar_coordinate_system

    In green, the point with radial coordinate 3 and angular coordinate 60 degrees or (3, 60°). In blue, the point (4, 210°). In mathematics, the polar coordinate system specifies a given point in a plane by using a distance and an angle as its two coordinates. These are the point's distance from a reference point called the pole, and