Let's suppose that I have code that uses vector cross products in a z-up
y-forward system.

Now I want replicate the code in our y-up, z-forward system to accomplish the
same task.

            What is the best / most efficient way to do this?

Do I need to re-order the vectors in the vcross (A, B) function?

or

do I actually need to change the vector coordinates that I'm using
so that z-up <X, Y, Z> = y-up <X, Z, -Y>

I want something sane, for production code.  Not something hacktastic.

- BE

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