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hexonaut/gist:9495343

Created March 11, 2014 21:20
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gistfile1.txt
R (Rotation) = [ cosA -sinA, sinA cosA ], S (Scale) = [ Sx 0, 0 Sy ]
M = RS
M11 = Sx*cosA
M21 = Sx*sinA
=> tanA = M21 / M11
=> A = arctan(M21 / M11)
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