es

This section is divided into a number of subsections, links to which are:

Rotations

2D Rotations

Euler Theorem

3D Rotations via Shearing

Quaternions

Compositions

Cayley Decomposition

3D Rotations

Viviani's curve:
\[ x = \frac{R}{2} \left( 1 + \cos t\right) , \quad y = \frac{R}{2} \left( \sin t\right) , \quad z = \pm R\,\sin (t/2) \]


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  2. Dunn, F. and Parberry, I. (2002). 3D math primer for graphics and game development. Plano, Tex.: Wordware Pub.
  3. Foley, James D.; van Dam, Andries; Feiner, Steven K.; Hughes, John F. (1991), Computer Graphics: Principles and Practice (2nd ed.), Reading: Addison-Wesley, ISBN 0-201-12110-7
  4. Matrices and Linear Transformations
  5. Pen and Paper Science
  6. Rogers, D.F., Adams, J. A., Mathematical Elements for Computer Graphics, McGraw-Hill Science/Engineering/Math, 1989.