Describe the calculations performed in order to perform rotations about an arbitrary axis.
Tutorial Details:
Rotation about an Arbitrary Axis
It's probably the simplest way of doing rotations, but it has some problems. The biggest problem is called gimbal lock. You may or may not have already encountered this if you wrote code according to the last tutorial. If you encountered it and noticed it, without knowing what it was, you may have spent hours trying to figure out where you went wrong in your code, carefully comparing every line of your code to the tutorial, trying to find the difference. If that happened, I'm sorry.
There is nothing wrong with your code; there is something wrong with the math. If you'll recall, I told you two very important things, which you probably didn't connect in the last tutorial. 1) Matrix multiplication is not commutative. A*B != B*A . 2) We generated matRotationTotal by doing matRotationX * matRotationY * matRotationZ . If there was nothing wrong with the math, you should have been able to do matRotationY*matRotationZ*matRotationX , or any other order, and gotten exactly the same results. But you wouldn't.
This problem is the root cause of gimbal lock. Trying to visualize this might blow your mind, so if you don't understand the next paragraph, don't worry too much. Just remember that Gimbal Lock happens when one axis gets rotated before another axis, and the axes are no longer mutually perpendicular. It can be a large problem, or it can go unnoticed, depending on the application.
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