   rotation matrices
  I thought I had it all figured out, that was until I did the math and my point which was supposed to be rotating around a vector seemed to be slowing down and going in the wrong direction :DThis is my current understanding ... you can rotate a point along an axis using the following matrices ...Those are quite simple!But there is another matrix for rotation around a unit vector? Or is it the combination of those three rotations? If it is a combination, how do I combine them?I would appreciate any input on this since I am obviously missing something.Thank you :)   
  Look up "axis angle rotation." The math involved in generating such a matrix is effectively the same as the math involved in generating a viewing transformation matrix.   ;Quote:But there is another matrix for rotation around a unit vector?Yes :) Googling 'axis angle matrix conversion' (or similar) should turn up some useful references.   ;  Well... I'm not a pro at matrices by any means given that I'm just learning them. But do you mean rotating around a "user-defined" axis defined by a vector, not just the x, y, or z axis? If so then that is the same thing I was trying to figure out, and this was the solution for me:(http://www.opengl.org/documentation/specs/man_pages/hardcopy/GL/html/gl/rotate.html)NAME  glRotated, glRotatef - multiply the current matrix bya  rotation matrixThese OpenGL functions work like so:glRotatef( x, y, z, rotation );They rotate drawn vertices. So I went online and found the matrix produced by the function which is this:  ( xx(1-c)+cxy(1-c)-zs  xz(1-c)+ys 0  )  |    |  | yx(1-c)+zsyy(1-c)+c   yz(1-c)-xs 0  |  | xz(1-c)-ysyz(1-c)+xs  zz(1-c)+c 0  |  |    |  ( 00 0 1  )  Wherec = cos(angle),s = sine(angle), and ||( x,y,z )|| = 1The x, y, and z are the vector.Hope that helps, if this is what you're asking.   