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## Main Question or Discussion Point

The following is my problem: I have a rotation and rotation matrix, based on rotations around coordinate A(x1,y1,z1). But actually, the rotation found place around coordinate B(x2,y2,z2).

How can I adjust my rotation and translation matrix, so that it is adjusted for the rotations around coordinate B?

How can I adjust my rotation and translation matrix, so that it is adjusted for the rotations around coordinate B?