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Help with Rotation Matrix
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In order to avoid confusion between the (x,y,z) that is the axis you're rotating around and the (x,y,z) that is the vector you're rotating, I'd do this in two parts: In the first part, (x,y,z) is the axis you're rotating around: a11 = cos@ + (1-cos@)x^2 a12 = (1-cos@)xy - (sin@)z ... etc ... In the second part, (x,y,z) is the vector you're rotating: x' = a11 * x + a12 * y + a13 * z y' = a21 * x + a22 * y + a23 * z z' = a31 * x + a32 * y + a33 * z
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