So basically I want to write a transformation matrix to take me out of one coordinate system and into another.
The transformation has to be as follows:
1) The positive z axis normalized as Vector(0,0,1) has to map to an arbitrary direction vector in the new coordinate system Vector(a,b,c)
2) The origin in the original coordinate system has to map to an arbitrary position P in the new coordinate system.
3) This might be redundant but the positive Y axis has to map to a specific direction vector(d,e,f) which is perpendicular to Vector(a,b,c) from before.
So my question is twofold: 1) How would I go about constructing this transformation matrix and 2) Is this enough data to ensure that any arbitrary vector in coordinate system 1 will be accurately transformed in coordinate system 2?