Let me explain a little bit because probably it would need some clarification

Given the case than i have this points in this relation

////D
A - B - C

Being the point “B” the point over the rotation matrix rotate

The thing is, when i rotate “B” for a determinated angle through rotate the Quaternion, when i put that very same angle of rotation in the function to rotate the rotation matrix, the angle of movement of the items moved by the rotation matrix doesn't correlate with the direction the point B is pointing at.

So this question can be expresed as any of this two other questions:

1. How can i sync the point of the B point and the new location of the D object after the rotation?
2. How can i extract and transform the rotation over an axis of a quaternion (the rotated one of the point B) and convert it in the correct angle to feed the rotation of the rotation matrix in order to sync the pointing dot of B with D new location?

Have in consideration this points:

• The rotation matrix is 2x2
• Consider C# pure (For instance, not Unity, and if you are not using C# pure, please detail that)

I will be editing this question if more information is required.

Thanks a lot