Reflecting
In rotating, an initial shape was inserted into a rotation matrix. Reflecting utilizes a similar template. When referring back to the rotating around x-axis template, you will notice subtraction in the y-coordinate and addition in the z-coordinate definition. If subtraction is replaced with addition, and addition is replaced with subtraction, an initial shape will be reflected about a plane that is rotated (at a defined angle) about the x-axis. However, the input angle defined is not the angle through which the shape is reflected, but half the angle reflected.
Imagine a vertical mirror on a wall. This book is closed and brought perpendicular to the mirror. Within the mirror, the book reflects and forms a flat plane, π radians (180 ...
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