The VRML Toolbox consists of four tools for Windows platforms:

Dizzy, an axis-angle rotation calculator.
Peek, a Viewpoint node calculator.
Twister, a calculator for Euler to axis-angle rotation conversion.
SpinDoctor, a general-purpose 3D vector/rotation calculator.

This code was originally developed by Vapour Technology (www.vapourtech.com), and has been released as open source software as a gift to the VRML community.