如何在OpenGL Java中实现多维数据集的旋转算法？

Question

以下是我在OpenGL中使用Java创建多维数据集的代码，如何在不使用预定义函数的情况下实现在Ox，Oy和Oz轴上旋转的算法。例如，如何在原点或其他点上旋转它。

import java.awt.DisplayMode;
import javax.media.opengl.GL2;
import javax.media.opengl.GLAutoDrawable;
import javax.media.opengl.GLCapabilities;
import javax.media.opengl.GLEventListener;
import javax.media.opengl.GLProfile;
import javax.media.opengl.awt.GLCanvas;
import javax.media.opengl.glu.GLU;

import javax.swing.JFrame;

import com.jogamp.opengl.util.FPSAnimator;

public class Cube implements GLEventListener {

   public static DisplayMode dm, dm_old;
   private GLU glu = new GLU();
   private float rquad = 0.0f;

   @Override
   public void display( GLAutoDrawable drawable ) {

      final GL2 gl = drawable.getGL().getGL2();
      gl.glClear(GL2.GL_COLOR_BUFFER_BIT | GL2.GL_DEPTH_BUFFER_BIT );
      gl.glLoadIdentity();
      gl.glTranslatef( 0f, 0f, -5.0f ); 

      // Rotate The Cube On X, Y & Z
      gl.glRotatef(rquad, 1.0f, 1.0f, 1.0f); 

      //giving different colors to different sides
      gl.glBegin(GL2.GL_QUADS); // Start Drawing The Cube
      gl.glColor3f(1f,0f,0f); //red color
      gl.glVertex3f(1.0f, 1.0f, -1.0f); // Top Right Of The Quad (Top)
      gl.glVertex3f( -1.0f, 1.0f, -1.0f); // Top Left Of The Quad (Top)
      gl.glVertex3f( -1.0f, 1.0f, 1.0f ); // Bottom Left Of The Quad (Top)
      gl.glVertex3f( 1.0f, 1.0f, 1.0f ); // Bottom Right Of The Quad (Top)

      gl.glColor3f( 0f,1f,0f ); //green color
      gl.glVertex3f( 1.0f, -1.0f, 1.0f ); // Top Right Of The Quad
      gl.glVertex3f( -1.0f, -1.0f, 1.0f ); // Top Left Of The Quad
      gl.glVertex3f( -1.0f, -1.0f, -1.0f ); // Bottom Left Of The Quad
      gl.glVertex3f( 1.0f, -1.0f, -1.0f ); // Bottom Right Of The Quad 

      gl.glColor3f( 0f,0f,1f ); //blue color
      gl.glVertex3f( 1.0f, 1.0f, 1.0f ); // Top Right Of The Quad (Front)
      gl.glVertex3f( -1.0f, 1.0f, 1.0f ); // Top Left Of The Quad (Front)
      gl.glVertex3f( -1.0f, -1.0f, 1.0f ); // Bottom Left Of The Quad
      gl.glVertex3f( 1.0f, -1.0f, 1.0f ); // Bottom Right Of The Quad 

      gl.glColor3f( 1f,1f,0f ); //yellow (red + green)
      gl.glVertex3f( 1.0f, -1.0f, -1.0f ); // Bottom Left Of The Quad
      gl.glVertex3f( -1.0f, -1.0f, -1.0f ); // Bottom Right Of The Quad
      gl.glVertex3f( -1.0f, 1.0f, -1.0f ); // Top Right Of The Quad (Back)
      gl.glVertex3f( 1.0f, 1.0f, -1.0f ); // Top Left Of The Quad (Back)

      gl.glColor3f( 1f,0f,1f ); //purple (red + green)
      gl.glVertex3f( -1.0f, 1.0f, 1.0f ); // Top Right Of The Quad (Left)
      gl.glVertex3f( -1.0f, 1.0f, -1.0f ); // Top Left Of The Quad (Left)
      gl.glVertex3f( -1.0f, -1.0f, -1.0f ); // Bottom Left Of The Quad
      gl.glVertex3f( -1.0f, -1.0f, 1.0f ); // Bottom Right Of The Quad 

      gl.glColor3f( 0f,1f, 1f ); //sky blue (blue +green)
      gl.glVertex3f( 1.0f, 1.0f, -1.0f ); // Top Right Of The Quad (Right)
      gl.glVertex3f( 1.0f, 1.0f, 1.0f ); // Top Left Of The Quad
      gl.glVertex3f( 1.0f, -1.0f, 1.0f ); // Bottom Left Of The Quad
      gl.glVertex3f( 1.0f, -1.0f, -1.0f ); // Bottom Right Of The Quad
      gl.glEnd(); // Done Drawing The Quad
      gl.glFlush();

      rquad -= 0.15f;
   }

   @Override
   public void dispose( GLAutoDrawable drawable ) {
      // TODO Auto-generated method stub
   }

   @Override
   public void init( GLAutoDrawable drawable ) {

      final GL2 gl = drawable.getGL().getGL2();
      gl.glShadeModel( GL2.GL_SMOOTH );
      gl.glClearColor( 0f, 0f, 0f, 0f );
      gl.glClearDepth( 1.0f );
      gl.glEnable( GL2.GL_DEPTH_TEST );
      gl.glDepthFunc( GL2.GL_LEQUAL );
      gl.glHint( GL2.GL_PERSPECTIVE_CORRECTION_HINT, GL2.GL_NICEST );
   }

   @Override
   public void reshape( GLAutoDrawable drawable, int x, int y, int width, int height ) {

      // TODO Auto-generated method stub
      final GL2 gl = drawable.getGL().getGL2();
      if( height lt;= 0 )
         height = 1;

      final float h = ( float ) width / ( float ) height;
      gl.glViewport( 0, 0, width, height );
      gl.glMatrixMode( GL2.GL_PROJECTION );
      gl.glLoadIdentity();

      glu.gluPerspective( 45.0f, h, 1.0, 20.0 );
      gl.glMatrixMode( GL2.GL_MODELVIEW );
      gl.glLoadIdentity();
   }

   public static void main( String[] args ) {

      final GLProfile profile = GLProfile.get( GLProfile.GL2 );
      GLCapabilities capabilities = new GLCapabilities( profile );

      // The canvas
      final GLCanvas glcanvas = new GLCanvas( capabilities );
      Cube cube = new Cube();

      glcanvas.addGLEventListener( cube );
      glcanvas.setSize( 400, 400 );

      final JFrame frame = new JFrame ( " Multicolored cube" );
      frame.getContentPane().add( glcanvas );
      frame.setSize( frame.getContentPane().getPreferredSize() );
      frame.setVisible( true );
      final FPSAnimator animator = new FPSAnimator(glcanvas, 300,true);

      animator.start();
   }
}