Rotation around a specific point (eg, rotate around 0,0,0)

Question

I\'ve been searching a lot on this problem, but I couldn\'t really find an answer that would fit.
I need to rotate a cylinder around a given point (eg, 0,0,0), but the p

Answer 1

The general procedure for rotation about an arbitrary point P is:

1. Translate by -P (so P is at (0, 0, 0))
2. Rotate around the origin
3. Translate by P (to bring the origin back to the original location of P)

The easiest way to do this is to represent everything in homogeneous coordinates and represent translations and rotations by matrices. Composing the above three transformations (translate-rotate-translate) is done by matrix multiplication. If the rotation is composed of two or more simpler rotations, then the rotation matrix itself is a product of the matrices for the simpler rotations.