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Arbitrary Matrix rotations

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Hi, I''ve been working on introducing myself to OpenGL programming and have realized that I''m a little lacking in the math department. I''m trying to work on a base class for objects on 3d space. This class would store the location and orientation of a specific object. My algebra is too rusty to hand;e quaternions just yet, so I''m using matrices. My question is this: what''s the equation for rotating a matrix around an arbitrary vector? Basically I need an explination of how glRotate works. Thanks in advance.

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The OpenGL red book (official Programming Guide has an appendix answering this exact question. It is appendix F (in the third edition).

Graham Rhodes
Senior Scientist
Applied Research Associates, Inc.

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