hom_mat3d_compose — Multiply two homogeneous 3D transformation matrices.
hom_mat3d_compose composes a new 3D transformation matrix
by multiplying the two input matrices:
For example, if the two input matrices correspond to rigid transformations, i.e., to transformations consisting of a rotation and a translation, the resulting matrix is calculated as follows:
Note that homogeneous matrices are stored row-by-row as a tuple; the last row is usually not stored because it is identical for all homogeneous matrices that describe an affine transformation. For example, the homogeneous matrix is stored as the tuple [ra, rb, rc, td, re, rf, rg, th, ri, rj, rk, tl]. However, it is also possible to process full 4×4 matrices, which represent a projective 4D transformation.
Left input transformation matrix.
Right input transformation matrix.
Output transformation matrix.
If the parameters are valid, the operator
TRUE. If necessary, an exception is raised.