Silicon Graphics

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(-) OpenGL Programming Guide
(-) Chapter 3Viewing

Examples of Composing Several Transformations

This section demonstrates how to combine several transformations to achieve a particular result. The two examples discussed are a solar system, in which objects need to rotate on their axes as well as in orbit around each other, and a robot arm, which has several joints that effectively transform coordinate systems as they move relative to each other.

(+) Building a Solar System
(+) Building an Articulated Robot Arm

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OpenGL Programming Guide

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