by an angle θ
(in radians) around an axis (unit-length vector) [u, v, w]T is given by:
GLM, this is programmed with the command:mModelMatrix = glm::rotate(mModelMatrix,
is expressed in degrees;
rotation is counter-clockwise around a vector [x, y, z]T.
Suppose we have a point p
[x, y, z]T. First, we homogenise p so
[x, y, z, 1]T.
Now, let’s determine the matrix product Rp
, where R
rotation about the z-axis: