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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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- 3D Rotation Transforms
MTech, PhD, DSc, CEng, FBCS Professor John Vince
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