Transformations and matrices

Matrices enable transformations - rotation, scale, translation, shear..

Onscreen

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Translation and rotation are NOT interchangeable, ie. order matters:

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Likewise, non-uniform scaling and rotation are NOT interchangeable either, ie. order matters:

In general, R, S and T are not interchangeable at all..

More info. on transforming normals:
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R/S/T in ActionScript (Flash)

DXF viewer that demonstrates R/S/T