[JAVA3D] Let me try to say this more clearly

[Kyle Wayne Kelly]

I am implementing a 3D system.  I want to shift the viewers reference point to the origin of the world coordinate system.  Second, I want to rotate the viewers coordinate system, so that the users axis lie on top of the world coordinate system.  I want to use properties of special orthogonal matrices.  Can anyone explain how to use special orthogonal matrices to rotate the viewers system to the world coordinate system?  I am implementing this in Java, but I am not using Java3D.  Does anyone know of any web pages that might have good information about this or can explain how this rotation works?  If you can explain using vectors without any actual coding then that would be perfect.    /**   * Kyle Wayne Kelly   * Computer Science Student   * University of New Orleans   * 504-391-3985   * http://www.cs.uno.edu/~kkelly   * Glory to God!   * El temor del hombre pondra lazo;   * Mas el que confia en Jehova sera exaltado. (Proverbios 29:25)   */