Transformation matrix
2D
Rotation
Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \begin{pmatrix} \cos \theta & -\sin \theta & 0 \\ \sin \theta & \cos \theta & 0 \\ 0 & 0 & 1 \end{pmatrix} }
Source: https://en.wikipedia.org/wiki/Rotation_matrix
3D
Translation
Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \begin{pmatrix} 1 & 0 & 0 & x \\ 0 & 1 & 0 & y \\ 0 & 0 & 1 & z \\ 0 & 0 & 0 & 1 \end{pmatrix} }
Source: https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/glTranslate.xml
Scaling
Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \begin{pmatrix} x & 0 & 0 & 0 \\ 0 & y & 0 & 0 \\ 0 & 0 & z & 0 \\ 0 & 0 & 0 & 1 \end{pmatrix} }
Source: https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/glScale.xml
Rotation
Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \begin{pmatrix} x^2 c' + c & xy c' - zs & xz c' + ys & 0 \\ yx c' + zs & y^2 c' + c & yz c' - xs & 0 \\ xz c' - ys & yz c' + xs & z^2 c' + c & 0 \\ 0 & 0 & 0 & 1 \end{pmatrix} }
with
Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \begin{align} c &= \cos(\mathit{angle}) \\ c' &= 1 - c \\ s &= \sin(\mathit{angle}) \end{align} }
Source: https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/glRotate.xml