Affine transforms¶

To support proper 3D operation, it would make sense to extend the existing support for 3×3 2D affine transforms to 4×4 3D transforms.

For both 2D and 3D transforms, translation, rotation and scaling are supported. Skewing, using the bottom row of the matrix, is not.

2D transforms¶

$\begin{bmatrix} a & c & e \\ b & d & f \\ 0 & 0 & 1 \end{bmatrix}$

$\begin{bmatrix} a & d & g & j \\ b & e & h & k \\ c & f & i & l \\ 0 & 0 & 0 & 1 \end{bmatrix}$