## 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