⎡⎣⎢⎢⎢⎢cos(θ)sin(θ)00−sin(θ)cos(θ)0000100001⎤⎦⎥⎥⎥⎥(绕z轴旋转θ的角度) ⎡⎣⎢⎢⎢100001000010xoffyoffzoff1⎤⎦⎥⎥⎥(位移向量(xoff, yoff, zoff)) ⎡⎣⎢⎢⎢xScale0000yScale0000zScale00001⎤⎦⎥⎥⎥(缩放)