{ 0.5 0.5 0.0 } translation-matrix4 { 0.0 0.0 1.0 } pi 0.5 * rotation-matrix4 m. dup inverse m. { { 1.0 0.0 0.0 0.0 } { 0.0 1.0 0.0 -0.4... } { 0.0 0.0 1.0 0.0 } { 0.0 0.0 0.0 1.0 } }