Transformation matrix

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2D

Rotation

Source: https://en.wikipedia.org/wiki/Rotation_matrix

3D

Translation

Source: https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/glTranslate.xml

Scaling

Source: https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/glScale.xml

Rotation

with

Source: https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/glRotate.xml

See also