3D Transformations

Assume a right handed coordinate system

Points , Vectors

Translation:

Scale:

About the origin

Shear:

see book

Reflection:

see book

Rotation:

About a coordinate axis

Composition:

works same way (but order counts when composing rotations).

Readings: Hearn and Baker, Chapter 11; Red book, 5.7; White book, 5.6