Editing Transformation matrix (section)

===Rotation===

The [[rotation matrix#General 3D rotations|matrix to rotate]] an angle ''θ'' about any axis defined by [[unit vector]] (''x'',''y'',''z'') is<ref>{{cite book |page = 154 |title = Basic Mathematics for Electronic Engineers:Models and Applications |first = John E. |last = Szymanski |publisher = Taylor & Francis |year = 1989 |isbn = 0278000681 }}</ref>
<math display="block">\begin{bmatrix}
xx(1-\cos \theta)+\cos\theta & yx(1-\cos\theta)-z\sin\theta & zx(1-\cos\theta)+y\sin\theta\\
xy(1-\cos\theta)+z\sin\theta & yy(1-\cos\theta)+\cos\theta & zy(1-\cos\theta)-x\sin\theta \\
xz(1-\cos\theta)-y\sin\theta & yz(1-\cos\theta)+x\sin\theta & zz(1-\cos\theta)+\cos\theta
\end{bmatrix}.</math>