Homogeneous Coordinates

Although the formulas we have shown are usually the most

efficient way to implement programs to do scales,

rotations and translations, it is easier to use matrix

transformations to represent and manipulate them.

In order to represent a translation as a matrix operation

we use 3x3 matrices and pad our points to bnecome 1x3 matrices.

Point P = (x,y,1)

 Ro =
 cos o-sin o	0
 sin o cos o	0
 0	0	1
 S =
 Sx	0	0
 0	Sy	0
 0	0	1
 T =
 1	0	Tx
 0	1	Ty
 0	0	1