Hello everyone, someoneone bad at maths here asking questions about rotation matrices. Am I correct to assume in rotation matrix we compare the rotation of coordinate system B to A ? For example in row 1 column 2, we compare the coordinate B X-axis to coordinate system A Y-axis ? And the formula on the right is when we rotate the X and Y axis of coordinate system B counterclockwise and we leave axis Z untouched ? That is where we get our corner alpha ? and why zaxis value is 1 for parallel and the others are 0 for being crossed ? Could someone poke me in the right direction if I am wrong here ? And excuse the MSPaint, didnt have anything better at hand.