Rodrigues’ rotation formula: Difference between revisions

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[ cos𝜃 + 𝑥²⁢𝑡, 𝑥⁢𝑦⁢𝑡 - 𝑧⁢sin𝜃, 𝑥⁢𝑧⁢𝑡 + 𝑦⁢sin𝜃 ],
[ 𝑥²⁢𝑡 + cos𝜃, 𝑦⁢𝑥⁢𝑡 - 𝑧⁢sin𝜃, 𝑧⁢𝑥⁢𝑡 + 𝑦⁢sin𝜃 ],
[ 𝑥⁢𝑦⁢𝑡 + 𝑧⁢sin𝜃, cos𝜃 + 𝑦²⁢𝑡, 𝑦⁢𝑧⁢𝑡 - 𝑥⁢sin𝜃 ],
[ 𝑥⁢𝑦⁢𝑡 + 𝑧⁢sin𝜃, 𝑦²⁢𝑡 + cos𝜃, 𝑧⁢𝑦⁢𝑡 - 𝑥⁢sin𝜃 ],
[ 𝑧⁢𝑥⁢𝑡 - 𝑦⁢sin𝜃, 𝑧⁢𝑦⁢𝑡 + 𝑥⁢sin𝜃, cos𝜃 + 𝑧²⁢𝑡 ]
[ 𝑥⁢𝑧⁢𝑡 - 𝑦⁢sin𝜃, 𝑦⁢𝑧⁢𝑡 + 𝑥⁢sin𝜃, 𝑧²⁢𝑡 + cos𝜃 ]
]
]
}
}
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