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UndraMundur

Reverse Matrix Rotation problem.

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I am more than a little rusty in my matrix math, and I'm faced with this matrix rotation problem. Hopefully you guys / girls can help me out. I'm receiving a 4x4 matrix. I know the xx to zz 3x3 part of the matrix controls the rotation. I need to take that rotation, and reverse it. I wish it was as simple as to just take the values and negate them, but I'm pretty sure that just rotates everything by 180 additional degrees. (please correct me if I'm wrong) How do I take that rotation part and negate it? How do I take a 3x3 matrix that rotates X amount of degrees around any or all axis, and make it -X amount degrees around any or all axis?

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