question: public static MatD makeTranslationRotXY ( double tx , double ty , double tz , double angleX , double angleY ) { double cosX = Math . cos ( Math . toRadians ( angleX ) ) ; double sinX = Math . sin ( Math . toRadians ( angleX ) ) ; double cosY = Math . cos ( Math . toRadians ( angleY ) ) ; double sinY = Math . sin ( Math . toRadians ( angleY ) ) ; return new MatD ( new double [ ] { cosY , sinX * sinY , - cosX * sinY , 0 , 0 , cosX , sinX , 0 , sinY , - sinX * cosY , cosX * cosY , 0 , tx , ty , tz , 1 } ) ; }
target:  Creates a matrix that is a translation followed by a rotation about the X and Y axis. Note, the angles are in degrees.