AngelCG12

Transformations : 

1 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Transformations Ed Angel Professor of Computer Science, Electrical and Computer Engineering, and Media Arts University of New Mexico

Objectives : 

2 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Objectives Introduce standard transformations Rotation Translation Scaling Shear Derive homogeneous coordinate transformation matrices Learn to build arbitrary transformation matrices from simple transformations

General Transformations : 

3 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 General Transformations A transformation maps points to other points and/or vectors to other vectors Q=T(P) v=T(u)

Affine Transformations : 

4 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Affine Transformations Line preserving Characteristic of many physically important transformations Rigid body transformations: rotation, translation Scaling, shear Importance in graphics is that we need only transform endpoints of line segments and let implementation draw line segment between the transformed endpoints

Pipeline Implementation : 

5 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Pipeline Implementation transformation rasterizer u v u v T T(u) T(v) T(u) T(u) T(v) T(v) vertices vertices pixels frame buffer (from application program)

Notation : 

6 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Notation We will be working with both coordinate-free representations of transformations and representations within a particular frame P,Q, R: points in an affine space u, v, w: vectors in an affine space a, b, g: scalars p, q, r: representations of points -array of 4 scalars in homogeneous coordinates u, v, w: representations of points -array of 4 scalars in homogeneous coordinates

Translation : 

7 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Translation Move (translate, displace) a point to a new location Displacement determined by a vector d Three degrees of freedom P’=P+d P P’ d

How many ways? : 

8 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 How many ways? Although we can move a point to a new location in infinite ways, when we move many points there is usually only one way object translation: every point displaced by same vector

Translation Using Representations : 

9 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Translation Using Representations Using the homogeneous coordinate representation in some frame p=[ x y z 1]T p’=[x’ y’ z’ 1]T d=[dx dy dz 0]T Hence p’ = p + d or x’=x+dx y’=y+dy z’=z+dz note that this expression is in four dimensions and expresses point = vector + point

Translation Matrix : 

10 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Translation Matrix We can also express translation using a 4 x 4 matrix T in homogeneous coordinates p’=Tp where T = T(dx, dy, dz) = This form is better for implementation because all affine transformations can be expressed this way and multiple transformations can be concatenated together

Rotation (2D) : 

11 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Rotation (2D) Consider rotation about the origin by q degrees radius stays the same, angle increases by q x’=x cos q –y sin q y’ = x sin q + y cos q x = r cos f y = r sin f x = r cos (f + q) y = r sin (f + q)

Rotation about the z axis : 

12 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Rotation about the z axis Rotation about z axis in three dimensions leaves all points with the same z Equivalent to rotation in two dimensions in planes of constant z or in homogeneous coordinates p’=Rz(q)p x’=x cos q –y sin q y’ = x sin q + y cos q z’ =z

Rotation Matrix : 

13 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Rotation Matrix R = Rz(q) =

Rotation about x and y axes : 

14 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Rotation about x and y axes Same argument as for rotation about z axis For rotation about x axis, x is unchanged For rotation about y axis, y is unchanged R = Rx(q) = R = Ry(q) =

Scaling : 

15 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Scaling S = S(sx, sy, sz) = x’=sxx y’=syx z’=szx p’=Sp Expand or contract along each axis (fixed point of origin)

Reflection : 

16 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Reflection corresponds to negative scale factors original sx = -1 sy = 1 sx = -1 sy = -1 sx = 1 sy = -1

Inverses : 

17 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Inverses Although we could compute inverse matrices by general formulas, we can use simple geometric observations Translation: T-1(dx, dy, dz) = T(-dx, -dy, -dz) Rotation: R -1(q) = R(-q) Holds for any rotation matrix Note that since cos(-q) = cos(q) and sin(-q)=-sin(q) R -1(q) = R T(q) Scaling: S-1(sx, sy, sz) = S(1/sx, 1/sy, 1/sz)

Concatenation : 

18 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Concatenation We can form arbitrary affine transformation matrices by multiplying together rotation, translation, and scaling matrices Because the same transformation is applied to many vertices, the cost of forming a matrix M=ABCD is not significant compared to the cost of computing Mp for many vertices p The difficult part is how to form a desired transformation from the specifications in the application

Order of Transformations : 

19 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Order of Transformations Note that matrix on the right is the first applied Mathematically, the following are equivalent p’ = ABCp = A(B(Cp)) Note many references use column matrices to represent points. In terms of column matrices p’T = pTCTBTAT

General Rotation About the Origin : 

20 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 General Rotation About the Origin q x z y v A rotation by q about an arbitrary axis can be decomposed into the concatenation of rotations about the x, y, and z axes R(q) = Rz(qz) Ry(qy) Rx(qx) qx qy qz are called the Euler angles Note that rotations do not commute We can use rotations in another order but with different angles

Rotation About a Fixed Point other than the Origin : 

21 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Rotation About a Fixed Point other than the Origin Move fixed point to origin Rotate Move fixed point back M = T(pf) R(q) T(-pf)

Instancing : 

22 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Instancing In modeling, we often start with a simple object centered at the origin, oriented with the axis, and at a standard size We apply an instance transformation to its vertices to Scale Orient Locate

Shear : 

23 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Shear Helpful to add one more basic transformation Equivalent to pulling faces in opposite directions

Shear Matrix : 

24 Angel: Interactive Computer Graphics 4E © Addison-Wesley 2005 Shear Matrix Consider simple shear along x axis x’ = x + y cot q y’ = y z’ = z H(q) =