Translation Matrix

A translation matrix looks like:

    |  1  0  0  tx  |
    |  0  1  0  ty  |
    |  0  0  1  tz  |
    |  0  0  0   1  |

e.g. translating by (-1, 0, 3) is

    |  1  0  0  -1  |     | x |
    |  0  1  0   0  |  *  | y |
    |  0  0  1   3  |     | z |
    |  0  0  0   1  |     | 1 |

The matrices for translation, rotation, scaling, and projections are all described in Appendix F of the OpenGL book.