Scale

Non-uniform scale \(S\) for \(x\), \(y\), and \(z\) axes can be defined as follows:

\[\texttt{Scale}(s_x, s_y, s_z) = \begin{bmatrix} s_x & 0 & 0 \\ 0 & s_y & 0 \\ 0 & 0 & s_z \\ \end{bmatrix}\]