Matrix Maths

Usefull formulas for working with matricies

The style of matrix and vector I will use throughout Matrix Definition The Identity matrix any matrix multiplied by the identity is itself (a usefull starting point). Matrix Identity 4x4 Matrix multiplication, click here for a larger view Matrix Multiplication Transforming a point by multiplying by a matrix. Matrix Multiplication Matrix to rotate a point around the X axis Matrix Rotate Around X Matrix to rotate a point around the Y axis Matrix Rotate Around Y Matrix to rotate a point around the Z axis Matrix Rotate Around Z Matrix to rotate a point around the given axis click here for a larger view Matrix Rotate Around Axis Matrix to translate a point by the vector given (w should normally be 1) Matrix Translate Matrix to scale a point by the vector given (w should normally be 1) Matrix Scale Example

Initial matrix setup. Matrix Init M x RotX90 x RotY90 x V = new_V Matrix Result A M x RotY90 x RotX90 x V = new_V Matrix Result B This actually shows that matrix multiplication is not commutative as AB != BA.

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