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chiro
#3
Mar7-12, 09:59 PM
P: 4,572
Hey tut_einstein.

Since your origin of the reference frame corresponds to the real origin, no translation is needed. If this wasn't the case you would need to perform two translations before and after your rotation in terms of a linear composition (i.e. matrices to be pre and post multiplied)

For specifics of the rotation, take a look at this:

http://en.wikipedia.org/wiki/Rotatio...axis_and_angle