- Q. Express the affine transform (as a \(4 \times 4\) block matrix) corresponding to a rotation \(R\) applied around an arbitrary position \(p_0\) in space.
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- > \(M= ...\)
- Q. Consider a shape defined by a triangular mesh with vertex positions \((p_i)_{i\in[1,N]}\).
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- > Express the affine transform allowing to rotate the shape around its barycenter.
