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// This website had it wrong. It was the basis of my original code - // http://www.cprogramming.com/tutorial/3d ... nions.html // These two had it right - // http://gpwiki.org/index.php/OpenGL:Tuto ... t_rotation // http://nehe.gamedev.net/data/lessons/le ... mera_Class // Value M[6] was wrong. Changed from - to + and all is now well. float[] M = null; public void fill_matrix() { if (M == null) M = new float[16]; // Column one M[0] = 1 - 2*y*y - 2*z*z; M[1] = 2*x*y + 2*w*z; M[2] = 2*x*z - 2*w*y; M[3] = 0.0f; // Column two M[4] = 2*x*y - 2*w*z; M[5] = 1 - 2*x*x - 2*z*z; M[6] = 2*y*z + 2*w*x; M[7] = 0.0f; // Column three M[8] = 2*x*z + 2*w*y; M[9] = 2*y*z - 2*w*x; M[10] = 1 - 2*x*x - 2*y*y; M[11] = 0; // Column four M[12] = 0; M[13] = 0; M[14] = 0; M[15] = 1; }