Rotation Matrix given angle and point in X,Y,Z

The complete rotation matrices are derived and given at https://sites.google.com/site/glennmurray/glenn-murray-ph-d/rotation-matrices-and-formulas/rotation-about-an-arbitrary-axis-in-3-dimensions. From the paper: 5.2 The simplified matrix for rotations about the origin Note this assumes that (u, v, w) is a direction vector for the axis of rotation and that u^2 + v^2 + w^2 = 1. If you have a point (x, y, z) … Read more