I want to implement XYZ, XZY, YXZ, YZX, ZXY, ZYX intrinsic Tait-Bryan rotations to matrix (Right Hand),
So I implemented formulas in this PDF: https://www.geometrictools.com/Documentation/EulerAngles.pdf
The problem is that some formulas (or components) appears to be different in wikipedia: https://en.wikipedia.org/wiki/Euler_angles
See the "Rotation matrix" section and XZY order. XYZ seems same.
Wikipedia version used s1s3 + c1c3s2 but the PDF used sxsy + cxcysz for m01, −s2 in wiki −sz in PDF for m10...
I'm confused
Does anyone know which one is correct?
Thanks