> 
> I have a question that I'm currently failing to resolve,
> so any help is welcome:
> 
> What is the form of the transformation matrix that would
> perform a rotation of a given angle (alpha), at the origin
> (<0,0,0>), around any possible axis (<a,b,c>).
> 
> I know the form for a rotation around the X, Y or Z,
> but I just cannot figure how to do it for any vector as
> the axis of the rotation.
> If it can help, it can be assumed that the length of the vector
> is the unit (or whatever please the solver).
> 
> I hope for a solution that is expressed in term of:
>  -the vector which is the normal to the plane of the rotation,
>  -the angle of the rotation, as measured in the plane of the rotation

Matrix Man to the rescue!

http://enphilistor.users4.50megs.com/matrix.htm

Regards,
John
-- 
ICQ: 46085459

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