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In geometry, an icosahedron (ˌaɪkɒsəˈhiːdrən,-kə-,-koʊ- or aɪˌkɒsəˈhiːdrən) is a polyhedron with 20 faces. The name comes . The plural can be either "icosahedra" (-drə) or "icosahedrons". There are infinitely many non-similar shapes of icosahedra, some of them being more symmetrical than others. The best known is the (convex, non-stellated) regular icosahedron—one of the Platonic solids—whose faces are 20 equilateral triangles. There are two objects, one convex and one nonconvex, that can both be called regular icosahedra. Each has 30 edges and 20 equilateral triangle faces with five meeting at each of its twelve vertices. Both have icosahedral symmetry. The term "regular icosahedron" generally refers to the convex variety, while the nonconvex form is called a great icosahedron. Regular icosahedron The convex regular icosahedron is usually referred to simply as the regular icosahedron, one of the five regular Platonic solids, and is represented by its Schläfli symbol {3, 5}, containing 20 triangular faces, with 5 faces meeting around each vertex. Its dual polyhedron is the regular dodecahedron {5, 3} having three regular pentagonal faces around each vertex. Great icosahedron The great icosahedron is one of the four regular star Kepler-Poinsot polyhedra. Its Schläfli symbol is {3, 5/2}. Like the convex form, it also has 20 equilateral triangle faces, but its vertex figure is a pentagram rather than a pentagon, leading to geometrically intersecting faces. The intersections of the triangles do not represent new edges. Its dual polyhedron is the great stellated dodecahedron {5/2, 3}, having three regular star pentagonal faces around each vertex. Stellation is the process of extending the faces or edges of a polyhedron until they meet to form a new polyhedron. It is done symmetrically so that the resulting figure retains the overall symmetry of the parent figure. In their book The Fifty-Nine Icosahedra, Coxeter et al. enumerated 58 such stellations of the regular icosahedron.
def rotation_matrix(d):
"""
Calculates a rotation matrix given a vector d. The direction of d
corresponds to the rotation axis. The length of d corresponds to
the sin of the angle of rotation.
Variant of: http://mail.scipy.org/pipermail/numpy-discuss