This is from page 754 of the OpenGL programming guide:

$\displaystyle v$ is the axis of rotation and $\displaystyle a$ is the angle of rotation.

Let $\displaystyle v=(x,y,z)^T

$ and $\displaystyle

u=\frac{v}{ \parallel v \parallel } = (x', y', z')^T

$

Also let

$\displaystyle

S=

\begin{bmatrix}

0 & -z' & y' \\

z' & 0 & -x' \\

-y' & x' & 0 \end{bmatrix}

$ and $\displaystyle

M = uu^T + (\cos a)(I-uu^T) + (\sin a) S

$

Also does the "I" represent the identity matrix so that $\displaystyle (I-uu^T)$ is simple scalar subtraction from the identity matrix (assuming $\displaystyle uu^T$ is the dot product producing a scalar value)?

Thanks alot for having a look.