General rotation matrix
In the chapter ‘matrix transformations about the origin’, we learned how to represent common rotations (i.e. 90 and 180 degrees) about the origin.
Here, we’ll learn how to represent a rotation of any angle.
Note: because all matrix transformations must keep the origin at, well, the origin. This means that our centre of rotation is always
when working with matrix transformations.
General rotation matrix
Section titled “General rotation matrix”A rotation anticlockwise by