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Extrinsic (relative to world frame - multiply on left)
Intrinsic (relative to local frame - multiply on right)
About second vertex of triangle (extrinsic transformation by AMA-1, where A is the translation from origin to the current location of the triangle's right-angled vertex)

Current transformation matrix:


Keyboard controls:

The notation "A" represents a translation to whatever is the current location of the right-angled vertex, A-1 is its inverse.