Where a,b,c are the columns of M | |

Orthogonal transform; a,b,c are cols of M. Unit cols and all perpindicular. | |

Transform from coord space A applied in coord space B. M = coord space transform. | |

Rotation matrix about X axis | |

Rotation matrix about Y axis | |

Rotation matrix about Z axis | |

Rotation matrix about arbitrary axis a. c = , s = | |

Reflection matrix about axis a, assumes a unit length. | |

Involution matrix about axis a, assumes a unit length. Negation of reflect mat. | |

Scale matrix about x,y,z axes | |

Scale matrix along direction a |

Skew matrix along direction a based on length projection b | |

Alternative skew matrix formation | |

Homogenous transformation matrix; M = 3x3 transf mat, t = translate vec | |

Homogenous transformation matrix inverse |