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C++ Rotation Tutorials
Calculating a rotation
The purpose of this tutorial is to describe how to obtain a proper matrix given a location and a target (or a vector), and an amount of roll.
3D Matrix Math Demystified
In this tutorial author expressed his way of thinking about rotation matrices in 3D graphics.
The Basics of 3D rotations
The purpose of this tutorial series is to explain the math involved behind rotating points in three dimensions.
Rotation about an Arbitrary Axis
Describe the calculations performed in order to perform rotations about an arbitrary axis.
Rotations in Three Dimensions Part Two: Rotation Matrices.