## rotation matrix

## 6DoF Rigid Body Dynamics

If you throw an arbitrarily-shaped rigid object into the air with some random rotational motion, the motion can proceed semi-chaotically, unless it happens to be spinning purely around one of its “principle axes”. (You could try your mobile phone, for example – give most spin around its tall axis for interesting results.) General rigid body […]

## Expressing 3DoF Rotation

The pose of a rigid body is a 6-DOF quantity, consisting of translational position (3-DOF) and rotational position, or orientation (3-DOF). Translational position is straightforwardly expressed by a triplet (x, y, z). Rotational position, or orientation, is not so simple. Rotation Vector Rotations, like translations, can be represented by a 3D vector. The rotation vector’s […]