| m00 m01 m02 m03 |
| m10 m11 m12 m13 |
| m20 m21 m22 m23 |
| m30 m31 m32 m33 |
http://www.mech.tohoku-gakuin.ac.jp/rde/contents/course/controlII/math.html
| m00 m01 m02 m03 |
| m10 m11 m12 m13 |
| m20 m21 m22 m23 |
| m30 m31 m32 m33 |
http://www.mech.tohoku-gakuin.ac.jp/rde/contents/course/controlII/math.html