1. 3D Transformations

scale   $S(s_x,s_y,s_z)= \left( \begin{matrix} s_x & 0 & 0 & 0\\ 0 & s_y & 0 & 0\\ 0 & 0 & s_z & 0\\ 0 & 0 &0 & 1 \end{matrix} \right)$S(sx​,sy​,sz​)=⎝⎜⎜⎛​sx​000​0sy​00​00sz​0​0001​⎠⎟⎟⎞​
Translation   $T(t_x,t_y,t_z)= \left( \begin{matrix} 1 & 0 & 0 & t_x\\ 0 & 1& 0 & t_y\\ 0 & 0 & 1 &t_z\\ 0 & 0 &0 & 1 \end{matrix} \right)$T(tx​,ty​,tz​)=⎝⎜⎜⎛​1000​0100​0010​tx​ty​tz​1​⎠⎟⎟⎞​

2. Viewing (观测) transformation

model transformation -> view transformation -> projection transformation

2.1 View (视图) / Camera transformation

2.2 Projection (投影) transformation

3D到2D的转化

Orthographic (正交) projection

不会带来近大远小的效果，多用于工程制图

Perspective (透视) projection

进大远小，平行线不在平行，会相交