Doing a couple rotations in Matlab, one which is rotation about the y-axis, however
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The two answers you link to are the same, up to different notation. The angle q in one link corresponds to the angle -a in the other, and since
for any
q, we have thatwhich introduces the difference in sign. The siggraph link also has a 4-dimensional matrix, which allows for translations, but the last row and column of this can be ignored if you want a pure rotation.