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Cool!

Just a question; In what situation would a axis-and-angle be a suitable representation of a rotation?

I usually store quaternions, since they are easy to use, and use angle-axis for input since they are easy to visualize.

http://en.wikipedia.org/wiki/Rotation_representation_(mathematics

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I wrote a blog post about rotation matrices and how they can be derived using a mathematical technique called an “infinitesimal generator”, and I use it to figure out the nasty formula for axis-angle rotations from first principles. Maybe some people here will be interested in this…warning, heavy mathematics ahead! :yes: