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Position and rotation of homogenous matrix

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Is the homogeneous matrix composed of others than translational and rotational transformations? What kind of orientation representation do you need to get?

In general, look out for the keyword "matrix decomposition".

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I think I don't have to worry about orientations because I am dealing with bones :)
The original example uses one 3x3 matrix for rotation and a vector for position.
Now, I am using D3DXMATRIX, as that is homogeneous, I want to mimic what the example does....

One more question:
Is 3x3 matrix the same as a 4x4 matrix without translations?
| R | 0 |
| 0 | 1 |


[Edited by - lucky6969b on February 29, 2008 3:42:06 AM]

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