In the context of sequential elementary transformations, the order of elementary magnification and elementary translations matters, but the order of elementary magnification and elementary rotations does not. The set of global rescaling transformations is closed under matrix inversion and matrix multiplication, so any sequence of global rescaling transformations and rigid-body transformations (which can be viewed as a special case with a magnification of unity) is guaranteed to produce another global rescaling transformation. One possible order of elementary transformations is
= translations * magnification * yaw * roll * pitch
Was this article helpful?