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:

I

Keyboard controls:

- r - Rotate 30 degrees (Denoted "R" above)
- R - Rotate -30 degrees (R
^{-1}) - t - Translate .3 along x-axis (T)
- T - Translate -.3 along x-axis (T
^{-1}) - s - Scale 2x along y-axis (S)
- S - Scale .5x along y-axis (S
^{-1}) - o - Reset to identity