Hello I'm trying to understand the formula for getting a rotation matrix for a rotation about an axis. I just need to understand it enough so I can implement it in some code. Any extra gems of knowledge you have are welcome of course : ).

The specific bit I don't get is the bit in the second line. Does that mean the dot product of u with the transpose of u? Why do they transpose it? Is taking the dot product of a vector with the transpose of itself a normal and reasonable thing to do?

This is from page 754 of the OpenGL programming guide:

is the axis of rotation and is the angle of rotation.

Let and

Also let

and

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.