Hello everyone. If I do 3 axis-angle rotations. say for example if i have an axis for x y and z axis (local) and I want to rotate 3 times say first around the x then around the y then around the z each with their own angles. Is there a way to combine all of these into just 1 axis-angle rotation? I hope this makes sense. Sincerely, Scott ViperDigital.

Each rotation has a specified matrix
In 4x4 matrix representation :
around x: (matrix X)
( 1 0 0 0 )
( 0 cos(angle) -sin(angle) 0 )
( 0 sin(angle) cos(angle) 0 )
( 0 0 0 1 )

around y: (matrix Y)
( cos(angle) 0 sin(angle) 0 )
( 0 0 0 0 )
(-sin(angle) 0 cos(angle) 0 )
( 0 0 0 1 )

around z: (matrix Z)
( cos(angle) -sin(angle) 0 0 )
( sin(angle) cos(angle) 0 0 )
( 0 0 0 0 )
( 0 0 0 1 )

When you calculate X*Y*Z (you have one matrix to rotate about 3 axis :-)))

i think he wants to know how to rotate around an arbitary axis. actually i wish i knew too other than the terrible solution: say if you want to rotate about the axis x,y,z by the angles A,B,C, well you can do A/n,B/n,c/n n times. so long as n is a big number.

and the final alignment will be the same whatever order your rotation steps occur.

i think. its a vague memory i have from physics.