Please let me know the formula for the point position rotated around an axis of a sphere.
In detail, I want to do as follows. Given:
- any point $p_1$ to decide the rotation axis ax of a sphere of ( radius r and center c);
- any point $p_2$ rotated around ax;
- any angle $angle$ as the measure of the rotation of the sphere around ax,
then compute the new position of $p_2$ by a formula.
Yes , I want the center c is at the origin and the rotation axis goes through p1 and c .
I found a rotation matrix formula at the bottom in the wikipedia page of "Rodrigues rotation formula ". Is it only for the special case as , the rotation axis goes through the origin?
Thank you very much.