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Getting the rotation & translation from a matrix

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Having a matrix with ... Translation(-10,0,0); RotateX(PI); Translation(10,0,0); (Rotation around a pivot) And if i unknow how much was rotated (and in which pivot) It''s possible to know the pivot, rotation and the location where is the object (without rotation).

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The translation vector is the 1st 3 values in either the last row or last column in the matrix (depending on whether the matrix is row- or column- oriented).

For rotation stuff, the following document from Magic-Software (Dave Eberly) will be enlightening:


Graham Rhodes
Principal Scientist
Applied Research Associates, Inc.

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Thanks for your response and your time.

I don''t know too much about math notations. I hope (i need) one day to learn a little more about maths.

I was hope a DirectX function that solve my issue
It, is a simple matrix problem, there aren''t so much information in spanish about this.

I''d created a gif with my problem in order to make the question a bit cleaner.


Any info will be appreciated.


PD: After see the gif... once made it the rotation how can i translate it (ie) 0,10,0 from the location where it is. (Rotation around a pivot affect the translation row)
If i multiplied a translation matrix by the result matrix (having the rotation & implict a translation) it doesn''t move from his location 0,10,0)

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