Abstract
Chapter 6 revises 3D rotation transforms and how they are used to rotate points about a Cartesian axis and an off-set axis. In particular, gimbal lock is described and the need to rotate points about an arbitrary 3D axis. To this end, a matrix transform is developed that achieves such a rotation, which provides a basis for understanding a similar transform using quaternions. The chapter summarises key formulae and contains some useful worked examples.
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© 2011 Springer-Verlag London Limited
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Vince, J. (2011). 3D Rotation Transforms. In: Quaternions for Computer Graphics. Springer, London. https://doi.org/10.1007/978-0-85729-760-0_6
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DOI: https://doi.org/10.1007/978-0-85729-760-0_6
Publisher Name: Springer, London
Print ISBN: 978-0-85729-759-4
Online ISBN: 978-0-85729-760-0
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