Matrix Maths
Usefull formulas for working with matricies
The style of matrix and vector I will use throughout
The Identity matrix any matrix multiplied by the identity is itself (a usefull starting point).
4x4 Matrix multiplication,
click here for a larger view 
Transforming a point by multiplying by a matrix.
Matrix to rotate a point around the X axis
Matrix to rotate a point around the Y axis
Matrix to rotate a point around the Z axis
Matrix to rotate a point around the given axis
click here for a larger view 
Matrix to translate a point by the vector given (w should normally be 1)
Matrix to scale a point by the vector given (w should normally be 1)
Example
Initial matrix setup.
M x RotX90 x RotY90 x V = new_V
M x RotY90 x RotX90 x V = new_V
This actually shows that matrix multiplication is not commutative as AB != BA.
The style of matrix and vector I will use throughout
The Identity matrix any matrix multiplied by the identity is itself (a usefull starting point).
4x4 Matrix multiplication,
click here for a larger view Transforming a point by multiplying by a matrix.
Matrix to rotate a point around the X axis
Matrix to rotate a point around the Y axis
Matrix to rotate a point around the Z axis
Matrix to rotate a point around the given axis
click here for a larger view Matrix to translate a point by the vector given (w should normally be 1)
Matrix to scale a point by the vector given (w should normally be 1)
ExampleInitial matrix setup.
M x RotX90 x RotY90 x V = new_V
M x RotY90 x RotX90 x V = new_V
This actually shows that matrix multiplication is not commutative as AB != BA.
