3.2 Changing Position and Orientation

Suppose that a movable model has been defined as a mesh of triangles. To move it, we apply a single transformation to every vertex of every triangle. This section first considers the simple case of *translation*, followed by the considerably complicated case of *rotations*. By combining translation and rotation, the model can be placed anywhere, and at any orientation in the virtual world
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Steven M LaValle 2016-12-31