4D rotations matrix

Hypercube and Lissajous Curves

After watching an online tutorial faking the 4D rotation effect of a hypercube I felt it should be doable to program the actual 4D rotation. After getting to grips with rotation matrices in VEX I programmed a bit of code that can rotate objects around their fourth dimensional axis resulting in oddly satisfying folding of 3D geometry. In an attempt to design actual 4D geometry (rather than rotating a 3D shape around its fourth dimensional axis) I looked into lissajous curves which use oscillators to create curves. By giving the W coordinate an oscillation as well the shape becomes truly four dimensional.