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