はてなブックマーク - Rodrigues' Rotation Formula -- from Wolfram MathWorld https://b.hatena.ne.jp/entry/s/mathworld.wolfram.com/RodriguesRotationFormula.html Rodrigues' rotation formula gives an efficient method for computing the rotation matrix corresponding to a rotation by an angle about a fixed axis specified by the unit vector . Then is given by daiki_yamanaka https://b.hatena.ne.jp/daiki_yamanaka/20111115#bookmark-20139683 2011-11-15T02:36:36Z computer graphics mathematics aont https://b.hatena.ne.jp/aont/20110913#bookmark-20139683 2011-09-13T02:19:39Z