RigidBody Transformations

Rigidbody, or Euclidean transformations

Preserve the shape of the objects that they act on

Includes rotations and translations (just as in two dimensions)
First we begin with a representation for 3D points. We will consider points
as column vectors. Thus, a typical point with coordinates (x, y, z) is represented
as:
or... as ...
This is not the only possible representation. You may
encounter textbooks that consider points as row vectors. What is most important
is that you use a consistent representation.