Arbitrary Axis Rotation

  
	m_fPitch = m_fPitch + .01f;

	// Step 0

	D3DXVECTOR3 A2, B2;
	double theta = -m_fPitch;


	// Step 1.

	// Start of procedure

	A2.x = 0.0f; A2.y = 0.0f; A2.z = 0.0f;
	B2.x = 0.0f; B2.y = 0.0f; B2.z = -1.0f; 

	// Step 2

	D3DXMATRIX T;
	D3DXMatrixIdentity(&T);
	D3DXMatrixTranslation(&T, -A2.x, -A2.y, -A2.z);

	// Step 3

	D3DXMATRIX R1;
	float len1 = (float) sqrt(B2.x * B2.x + B2.z * B2.z);
	float costheta1, sintheta1;

	if (len1 > 0)
	{
		costheta1 = B2.z / len1;
		sintheta1 = B2.x / len1;

		// This, of course, is the matrix for rotation around the Y axis

		R1 = D3DXMATRIX( costheta1,  0, sintheta1,  0,
			                 0,  1,         0,  0,
				    -sintheta1,  0, costheta1,  0,
					         0,  0,         0,  1);
	}
	else
	{

		// Line is already parallel to Y-axis, and therefore already in

		// the YZ plane.  Make this rotation do nothing.  

		D3DXMatrixIdentity(&R1);
	}

	// Step 4

	D3DXMATRIX R2;
	float len2 = (float) sqrt(B2.y * B2.y + B2.z * B2.z);
	float costheta2, sintheta2;

	if (len2 > 0)
	{
	    costheta2 = B2.z / len2;
		sintheta2 = B2.y / len2;

		// This is the X-axis rotation matrix

		R2 = D3DXMATRIX(1,          0,          0,  0,
						0,  costheta2,  sintheta2,  0,                
						0, -sintheta2,  costheta2,  0,
						0,          0,          0,  1);
	}
	else
	{
	    // Should never happen

		D3DXMatrixIdentity(&R2);
	}

	// Step 5

	D3DXMATRIX R3 = D3DXMATRIX( cos(theta), sin(theta), 0, 0,
							    -sin(theta), cos(theta), 0, 0,
				                   0,          0, 1, 0,
					               0,          0, 0, 1);

	// Step 6

	D3DXMATRIX R2_inv;

	if (len2 > 0)
	{ 

	    R2_inv = D3DXMATRIX(1,          0,          0,  0,
							0,  costheta2, -sintheta2,  0,                
							0,  sintheta2,  costheta2,  0,
							0,          0,          0,  1);
	}
	else
	{


		// Obviously, if we skipped this rotation, don''t un-rotate.

		// However, as I stated before, this rotation should always

		// happen, so it would be bizarre indeed if control made it here.

		// Oh, well.

//		R2_inv = identity_matrix;

		D3DXMatrixIdentity(&R2_inv);
	}

	// Step 7

	D3DXMATRIX R1_inv;

	if (len1 > 0)
	{

	    R1_inv = D3DXMATRIX(costheta1,  0, -sintheta1,  0,
		                        0,  1,          0,  0,
			            sintheta1,  0,  costheta1,  0,
				                0,  0,          0,  1);
	}
	else
	{
		D3DXMatrixIdentity(&R1_inv);
	}


	// Step 8

	D3DXMATRIX T_inv = D3DXMATRIX(  1,   0,   0,  0,
							0,   1,   0,  0,
							0,   0,   1,  0,
							0.0f, 0.0f, 0.0f,  1);

	// Construct the final matrix...

	D3DXMATRIX M = T * R1 * R2 * R3 * R2_inv * R1_inv * T_inv;

	// Obviously, you can apply this same matrix to any number of points.

//	P = P * M;

	//b  Step 9


	D3DXMatrixIdentity(&m_matWorld);
//	D3DXMatrixTranslation(&m_matWorld, m_vPosition.x, m_vPosition.y, m_vPosition.z);

	D3DXMatrixTranslation(&m_matWorld, m_vLoc.x, m_vLoc.y, m_vLoc.z);
	D3DXMatrixMultiply( &m_matWorld, &M, &m_matWorld );