I have just extended Math::Vector::Real to support a rotate_3d method: 
@r = $axis->rotate_3d($rad, @vs);  # anticlockwise
@s = $axis->rotate_3d(-$rad, @vs); # clockwise

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In reply to Re: Rotation around an axis clockwise and anti-clockwise algorithm question? by salva
in thread Rotation around an axis clockwise and anti-clockwise algorithm question? by fraizerangus

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