![]() Let us analyse how the matrix is constructed. In order to rotate a vector you usually multiply by notated as column vector: We show examples here in for simplicity, but what we observe here is also valid in or even. ![]() Let’s take the simple rotation matrix in which rotates around an angle around the imaginary z-axis. The common standard matrices for rotations around X, Y, Z axis rotate a point around the respective world axis. To understand the involved matrices I found it useful to clarify what a rotation matrix actually does. The motivation for this article was the problem of rotating an object around global axis versus rotating it around local axis. I want to give a short straight forward summary of rotation matrices regarding vector basis change. When you deal with 3d computer graphics you become familiar with rotation matrices and how to use them in order to rotate points in space.
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