It’s time to transform!
— Super WHY!
Chapter 4 investigated some of the basic mathematical properties of matrices. It also developed a geometric understanding of matrices and their relationship to coordinate space transformations in general. This chapter continues our investigation of transformations.
To be more specific, this chapter is concerned with expressing linear transformations in 3D using 3 × 3 matrices. We give a more formal definition of linear transformations at the end of this chapter, but for now, recall from our informal introduction to linear transformations in Section 4.2 that one important property of linear transformations is that they do not contain translation. A transformation that contains ...