I am wondering how to change the 3x3 affine transformation matrix here:
...into a 4x4 transformation matrix:
┌ ┐
T = | 1 0 0 tx |
| 0 1 0 ty |
| 0 0 1 tz |
| 0 0 0 1 |
└ ┘
I understand how the upper-left 3x3 of the 4x4 is for rotation and scale, how do the a/b/c/d/e/f/g/h/i of the 3x3 correspond to the positions of the 4x4. It seems like you could just copy in a, b, d, e in the same spots in the 4x4...but that leaves a bunch of spots unaccounted for...mainly - I know that my application scales and I would be missing an sz variable (see below) if I did it like that...I think.
┌ ┐
S = | sx 0 0 tx|
| 0 sy 0 ty|
| 0 0 sz tz|
| 0 0 0 1 |
└ ┘
┌ ┐
S = | a b tx |
| d e ty | ... with any values for a, b, d, e, s, w, tx, ty
| s w 1 |
| |
└ ┘
to .......
┌ ┐
T = | f g h tx |
| i j k ty |
| l m n tz |
| r p q j |
└ ┘
Connect the letters, which letters in the 3x3 goes to which letters in the 4x4 for an affine transformation (obviously tx, ty, tz are the same for both, and I know where those go)
UPDATE
For the comment about how the 3x3 is an affine transformation. Below is the matrix...here is a link Link See "2D Affine Transformations"...I am essentially trying to take the 2D Affine Transformation and turn it into a 3D (4x4 matrix)...the 2D should correspond to the 3D somehow...

