VRML to quaternion or rotation matrix

Hi,

I was wondering what the relation is between the VRML format and quaternions/rotation matrices.

I have 3D position data which I use to build vectors. I am interested in the 3D angles (I use Euler) on between vectors.

1) Can I obtain those by using the "rotation between 2 vectors" Simulink block (output = VRML format)? 2) What is the relation between VRML(how do I transfer this data to) and quaternions ;and rotation matrices?

My 3D point data is limited to 2 points per segment (2 vectors are generated from only 3 points).

I look forward to your input/feedback!