NX转换的4*4矩阵问题

In the following description we use “tr” as an abbreviation for transform.
In summary, the component CSYS matrix and origin map to the transform in the
following ways:

tr[0][0]=csys[0], tr[0][1]=csys[3], tr[0][2]=csys[6], tr[0][3]=orig[0]
tr[1][0]=csys[1], tr[1][1]=csys[4], tr[1][2]=csys[7], tr[1][3]=orig[1]
tr[2][0]=csys[2], tr[2][1]=csys[5], tr[2][2]=csys[8], tr[2][3]=orig[2]
tr[3][0]=unused, tr[3][1]=unused,tr[3][2]=unused,tr[3][3]=scale=1

The origin of the component is contained in the tr[0][3] to tr[2][3]
column range. That is:

tr[0][3]=orig[0] = x-coordinate of the origin
tr[1][3]=orig[1] = y-coordinate of the origin
tr[2][3]=orig[2] = z-coordinate of the origin

The CSYS matrix (orthonormal rotation matrix), tr[0][0] to tr[2][2],
are column vectors.

where:
csys[0], csys[1], csys[2] are the i, j, k components of the X-vector.
csys[3], cys[4], csys[5] are the i, j, k components of the Y-vector.
csys[6], csys[7], cys[8] are the i, j, k components of the Z-vector.
The tr[3][0] to tr[3][3] row range is unused and tr[3][3] represents the
scale which is always 1