4x4 Matrix Transforms

x'
y'
z'
w'

=

A B C D
E F G H
I J K L
M N O P

*

 x
 y
 z
 w

• Translation is encoded in D, H, L

• Scaling and rotation are encoded in A, B, C, E, F, G, I, J, K

• Usually , [M N O P] = [0 0 0 1]