Maths - AxisAngle to Matrix - Tristen

From: "Tristen Georgiou"
To: "Martin Baker"
Subject: Axis and Angle
Date: 24 May 2002 19:31

To whom it may concern:

The following page

https://www.euclideanspace.com/threed/scenegraph/rotations/axis.htm

has a small error in the java code algorithm for converting Axis and Angle
to Matrix.

The errors occur in the following code (the bottom 9 lines) and are in red
font.

tmp1 = a1.x*a1.z*omc;
tmp2 = a1.y*s;
m02 = tmp1 - tmp2;
m12 = tmp1 + tmp2;

tmp1 = a1.x*a1.z*omc;
tmp2 = a1.y*s;
m20 = tmp1 + tmp2;
m21 = tmp1 - tmp2;

The corrected code follows with corrections in blue:

tmp1 = a1.x*a1.z*omc;
tmp2 = a1.y*s;
m02 = tmp1 - tmp2;
m20 = tmp1 + tmp2;

tmp1 = a1.x*a1.z*omc;
tmp2 = a1.x*s;
m12 = tmp1 + tmp2;
m21 = tmp1 - tmp2;

Tristen