niiicE!! some fun facts about OpenGL matricies: translate first, then scale, then rotate…

niiicE!! some fun facts about OpenGL matricies: translate first, then scale, then rotate eg point = r(s(t(m))) Center the model once at authoring time too helps as Can use quaternions for rotation instead of Euler angles when composing many rotations... avoids gimbal lock If you need “parent → child” hierarchies, multiply in scene-graph order: child.M = parent.M · child.T · child.R · child.S if all three of these happen you can end up with a bad shear: Object is off-origin (pivot ≠ (0,0,0)) + Non-uniform scaling (sx ≠ sy or sx ≠ sz) + You rotate (any angle ≠ 0°)