[ 1 0 tx ] [ 0 1 ty ] [ 0 0 1 ]
[ cos(theta) -sin(theta) 0 ] [ sin(theta) cos(theta) 0 ] [ 0 0 1 ]
[ cos(theta) -sin(theta) x-x*cos+y*sin ] [ sin(theta) cos(theta) y-x*sin-y*cos ] [ 0 0 1 ]
[ sx 0 0 ] [ 0 sy 0 ] [ 0 0 1 ]
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