When the vector is used as a row matrix, it is as follows: (equivalent to the matrix in the program is stored in row priority)
The matrix in opengl is column-first storage, that is, the vector is used as a column matrix, and the matrix can only be multiplied on the left and the column vector on the right. According to the transposition formula of matrix multiplication, the transposition of T3D in the above figure is the transformation matrix: , that is :
The upper right corner is used for translation transformation and
projection transformation, and the other two are the same as T1 and T4