In fact, a common way of denoting the dot product of a vector with itself is the other way around: .
Yes, I is the identity matrix but there is no such thing as "scalar subtraction"- you can't subtract a scalar from a matrix. However, as I said above, is not a dot product and so not a scalar value. It is a matrix which can be subtracted from the identity matrix. With u as above,This is from page 754 of the OpenGL programming guide:
is the axis of rotation and is the angle of rotation.
Also does the "I" represent the identity matrix so that is simple scalar subtraction from the identity matrix (assuming is the dot product producing a scalar value)?
Thanks alot for having a look.