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Matheass

Rotation matrix

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I was looking on the math of matrixcalculations of openGL, espesially the calculations of modelview-transformations. I looked at the online version of the Red Book, Appendix F. I can''t understand the calculation of the rotation matrix: - What''s the T? - What''s uu^T? - What''s I-uu^t? Thank you for help!

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T means transposed; you flip the matrix about the main diagonal. If A=BT, then aij=bji.
u is the normalized axis of rotation.
I is the identity matrix.

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It's normal matrix multiplication.

[x]
u = [y]
[z]
[x] [x*x x*y x*z]
uuT = [y] * [x y z] = [y*x y*y y*z]
[z] [z*x z*y z*z]


[edited by - Brother Bob on January 16, 2004 6:38:48 AM]

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