Appendix C. Homogeneous Coordinates and Transformation Matrices

This appendix presents a brief discussion of homogeneous coordinates. It also lists the forms of the transformation matrices used for rotation, scaling, translation, perspective projection, and orthographic projection. These topics are introduced and discussed in Chapter 3. For a more detailed discussion of these subjects, see almost any book on three-dimensional computer graphics—for example, Computer Graphics: Principles and Practice, by Foley, van Dam, Feiner, and Hughes (Addison-Wesley, 1990); or a text on projective geometry—for example, The Real Projective Plane, by H. S. M. Coxeter, 2nd ed. (Cambridge University Press, 1961). In the discussion that follows, the term ...

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