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How can I retrieve axis angles from a Matrix?

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Eberly tends to use formal math notation, and that is the case here. It can give a headache sometimes for folks who haven''t studied vectors and matrices in a formal setting such as a classroom. Mathworld can help clarify some things, such as what is meant by Trace. The big funky "E" looking thing is the capital Sigma greek letter. Means summation, e.g., add up all the terms from j = 0 to 2 for example in equation 1. He may have some figures in his other docs, which might help.

But, I don''t believe this is overlay difficult. He does use sin/cos, 3x3 rotation matrices, and vectors, which are all second nature to game developers.

Graham Rhodes
Senior Scientist
Applied Research Associates, Inc.

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