# Rotation matrix

From Maths

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## Definition

A rotation matrix is a matrix or linear map (in [ilmath]\mathbb{R} [/ilmath]) that gives the transformation of a rotation, in the plane this will be a rotation by an angle, in [ilmath]\mathbb{R}^3[/ilmath] it might correspond to a rotation about one of the principle axies, [ilmath]x[/ilmath], [ilmath]y[/ilmath] or [ilmath]z[/ilmath], or a general vector.

Quaternions are often used in implementations^{[Note 1]}

## See also

## Notes

- ↑ Referring to programs that deal with 3d mathematics and computer graphics.

TODO: Why do we do this? See notes