Re: Rotation matrix definition

[kingcrimson]

Il giorno 26 nov 2019, alle ore 11:56, Farzad Torabi <address@hidden> ha scritto:

dear Carlo

thank you for your great answer !

So the " T " is the transformation matrice to use, but can the "T" be used to either transform points coordinates or rotations or displacements ?

Yes, 

if T is 4x4 it can represent any affine transformation, i.e. scaling, rotation, displacement, etc.

If you want to understand theory about how this works (and I think you should), 

you will have to read about homogeneous coordinates and projective geometry, 

wikipedia has very good articles about those topics.

In practical terms, though, you should  just know that you can produce the transformation

matrix for a rotation and a displacement as 

  T = vectrans (displacement) * vecrot (rotation_angle, axis_direction)

c.