phlyingpenguin

from numpy import *
import OpenGL

I = matrix([[1,0,0],
                [0,1,0],
                [0,0,1]])

S = matrix([2,0,0,0,3,0,0,0,1])

S = S.reshape(3,3)

T = matrix([1,0,4,0,1,-3,0,0,1]).reshape(3,3)

R = matrix([cos(pi/4), -sin(pi/4), 0, sin(pi/4), cos(pi/4), 0, 0, 0, 1]).reshape(3,3)

p = matrix([6,5,1]).reshape(3,1)

print "S*P"
print S*p
print "T*S*p"
print T*S*p
print "R*T*S*p"
print R*T*S*p
print "R*T*S"
print R*T*S
print "C = RTS, C*p"
C = R*T*S
print C*p