All object are by default located at the center of the grid, at coordinates (0, 0, 0). In order to transform objects several commands are used.

Rotation Around A Major Axis

The commands rotatex, rotatey, and rotatez enable one to rotate an object on one of the major axes. The angle of rotation must be specified in radians. For instance, the command

    rotatex(object, angle);    

would rotate object object to angle radians on its X axis.

Rotation Around An Arbitrary Axis

The command

     rotateaxis(object, angle, vx, vy, vz);

would transform object ``object'' to be rotated angle radians around the axis defined by the vector (vx, vy, vz).

Translation

The command

     translate(object, tx, ty, tz);

would translate the center of the object ``object'' to the coordinates (tx, ty, tz).

Scaling

The command

     scale(object, sx, sy, sz);

would scale object ``object'' by sx in the X direction, by sy in the Y direction, and by sz in the Z direction.