Extrinsic (multiply on left)
Intrinsic (multiply on right)
Current transformation matrix:
I
Keyboard controls:
- y - RotateY(15) (denoted "Y")
- Y - RotateY(-15) (denoted "Y-1")
- x - RotateX(15)
- X - RotateX(-15)
- z - RotateZ(15)
- Z - RotateZ(-15)
- a - Rotate about quaternion axis back to original position
- A - Re-do rotation about quaternion axis
- o - Reset to identity
-
(See console output for axis and angle.)