Page 123 - Computer Graphics Handout
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This sequence is shown in Figure 3.46. In terms of our basic affine transformations,
the first is T(−pf ), the second is Rz(θ), and the final is T(pf ). Concatenating them together, we obtain the single matrix
M = T(pf )Rz(θ)T(−pf ).
If we multiply out the matrices, we find that
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