I have a simple 3d software renderer (SDL / C++) which can load a 3ds Model and render it (shaded) and rotate it around X Y Z - Axis. Now I would like to rotate / move around the object, meaning, the object itself stands still, and everything in the scene is displayed from the angle of the view. Is that what a camera in 3d engines does, and how would I implement something like this ?

(No OpenGL / DirectX is used, just plain software)