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Rotation Matrices

Rotations in Three Dimensions Part Two: Rotation Matrices.
http://www.cprogramming.com/tutorial/3d/rotationMatrices.html

Description:

The way presented for doing rotations in the last tutorial wasn't really a good one. It works just fine in two dimensions, but as soon as you want to rotate around the X or Y-axes, it becomes more difficult. Sure, it's easy to make equations that will represent a rotation on any one of those axes, but just go ahead and try to make equations that will represent changes on three axes at once. If you manage to pull that off, make sure to let us know. Meanwhile, I'll present a way to do the rotations with matrices.

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