Rigid Body Model

and interpreted as corresponding to the coordinate (a/k, b/k, c/k). Any vector that ends with a zero cannot be rescaled in this manner. Consequently, vectors ending with zero cannot be viewed as homogeneous coordinate locations. However, since they can be added to or subtracted from homogeneous coordinates, vectors ending with a zero can be viewed as classical vectors. The vector can therefore be interpreted as a three-dimensional vector passing from the origin to the point (i, j, k).

Using this notation, the two-dimensional linear transformation of a coordinate (x, y) to some new coordinate (x', y') can be written as follows:


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