Rotations
Some quick notes on rotations:
Rotate about an object centroid
If you want to rotate an object about its center:
- Translate object centroid to origin
- Rotate object
- Invert centroid translation
Rotate about arbitrary axis
If you want to rotate around an arbitrary axis:
- Make basis with desired rotation axis as \( \mathbf{w} \)
- Apply basis (z and rotation axis are now aligned)
- Rotate around z
- Apply inverse basis transform