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diff --git a/hw6/src/rotation3d.cpp b/hw6/src/rotation3d.cpp
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+/******************************************************************/
+/* This file is part of the homework assignments for CSCI-427/527 */
+/* at The College of William & Mary and authored by Pieter Peers. */
+/* No part of this file, whether altered or in original form, can */
+/* be distributed or used outside the context of CSCI-427/527     */
+/* without consent of either the College of William & Mary or     */
+/* Pieter Peers.                                                  */
+/******************************************************************/
+#include "constants.h"
+#include "rotation3d.h"
+
+//////////////////
+// Constructors //
+//////////////////
+rotation3d::rotation3d(void) 
+  : transformation3d()
+{
+  // Do Nothing
+}
+
+
+rotation3d::rotation3d(float angle, const vec3d& axis) 
+  : transformation3d()
+{
+  vec3d norm_axis = normalize(axis);
+  float s = sin(angle * PI / 180.0f);
+  float c = cos(angle * PI / 180.0f);
+
+  _transformation(0,0) = c + ((norm_axis.x * norm_axis.x) * (1.0f - c));
+  _transformation(0,1) = -(norm_axis.z * s) + ((norm_axis.x * norm_axis.y) * (1.0f - c));
+  _transformation(0,2) = (norm_axis.y * s) + ((norm_axis.x * norm_axis.z) * (1.0f - c));
+  _transformation(1,0) = (norm_axis.z * s) + ((norm_axis.x * norm_axis.y) * (1.0f - c));
+  _transformation(1,1) = c + ((norm_axis.y * norm_axis.y) * (1.0f - c));
+  _transformation(1,2) = -(norm_axis.x * s) + ((norm_axis.y * norm_axis.z) * (1.0f - c));
+  _transformation(2,0) = -(norm_axis.y * s) + ((norm_axis.x * norm_axis.z) * (1.0f - c));
+  _transformation(2,1) = (norm_axis.x * s) + ((norm_axis.y * norm_axis.z) * (1.0f - c));
+  _transformation(2,2) = c + ((norm_axis.z * norm_axis.z) * (1.0f - c));
+
+  _inverseTransformation = transpose(_transformation);
+}
+
+
+rotation3d::rotation3d(const rotation3d& r) 
+  : transformation3d(r)
+{
+  // Do Nothing
+}