3D transformation:-

3D transformations refer to the process of changing the position, orientation, and size of objects
in three-dimensional space. These transformations are fundamental in computer graphics, CAD
(Computer-Aided Design), animation, and games.

There are several types of 3D transformations:

1. Translation

Translation moves an object from one location to another without rotating or resizing it. It
involves shifting an object along the X, Y, and Z axes.

 Formula for translation:

T(x,y,z)T(x, y, z)T(x,y,z)
Where TTT is the translation vector, and x,y,zx, y, zx,y,z are the translation amounts
along each axis.

2. Scaling

Scaling changes the size of an object. It can either enlarge or shrink the object along the X, Y,
and Z axes. The scaling transformation is typically represented by a scaling factor for each axis.

 Formula for scaling:

S(sx,sy,sz)S(s_x, s_y, s_z)S(sx,sy,sz)
Where sx,sy,szs_x, s_y, s_zsx,sy,sz are scaling factors for the X, Y, and Z axes.

3. Rotation

Rotation changes the orientation of an object around one of the axes (X, Y, or Z). The rotation is
done in a counter-clockwise direction, and the amount of rotation is measured in degrees or
radians.

 Formula for rotation about the X-axis:

Rx(θ)R_x(\theta)Rx(θ)
Where θ\thetaθ is the angle of rotation.
 Formula for rotation about the Y-axis:
Ry(θ)R_y(\theta)Ry(θ)
 Formula for rotation about the Z-axis:
Rz(θ)R_z(\theta)Rz(θ)

In general, the 3D rotation matrix for an object is defined by one or more of the following
rotation matrices depending on the axis of rotation:

 Around the X-axis:

 Rx(θ)=(1000cos⁡(θ)−sin⁡(θ)0sin⁡(θ)cos⁡(θ))R_x(\theta) = \begin{pmatrix} 1 & 0 & 0
\\ 0 & \cos(\theta) & -\sin(\theta) \\ 0 & \sin(\theta) & \cos(\theta) \end{pmatrix}Rx(θ)=
1000cos(θ)sin(θ)0−sin(θ)cos(θ)

 Around the Y-axis:

Ry(θ)=(cos⁡(θ)0sin⁡(θ)010−sin⁡(θ)0cos⁡(θ))R_y(\theta) = \begin{pmatrix}
\cos(\theta) & 0 & \sin(\theta) \\ 0 & 1 & 0 \\ -\sin(\theta) & 0 & \cos(\theta)
\end{pmatrix}Ry(θ)=cos(θ)0−sin(θ)010sin(θ)0cos(θ)

 Around the Z-axis:

Rz(θ)=(cos⁡(θ)−sin⁡(θ)0sin⁡(θ)cos⁡(θ)0001)R_z(\theta) = \begin{pmatrix} \cos(\theta)

& -\sin(\theta) & 0 \\ \sin(\theta) & \cos(\theta) & 0 \\ 0 & 0 & 1 \end{pmatrix}Rz(θ)=
cos(θ)sin(θ)0−sin(θ)cos(θ)0001

4. Shearing

Shearing involves changing the shape of an object in such a way that the transformation pushes
one layer of the object in a different direction than the other. It can be done along any of the axes
and is usually represented by a shear matrix.

 Formula for shearing:

Hxy=(1shx0shy10001)H_{xy} = \begin{pmatrix} 1 & sh_x & 0 \\ sh_y & 1 & 0 \\ 0 & 0
& 1 \end{pmatrix}Hxy=1shy0shx10001

5. Perspective Transformation

Perspective transformation involves adjusting the depth perception of an object, making distant
objects appear smaller. This is especially important for rendering 3D objects onto a 2D screen
(e.g., in games and animations).

 The perspective matrix is typically defined as:

P=(f/d0000f/d0000(f+n)/(f−n)−2fn/(f−n)0010)P = \begin{pmatrix} f/d & 0 & 0 & 0 \\ 0

& f/d & 0 & 0 \\ 0 & 0 & (f+n)/(f-n) & -2fn/(f-n) \\ 0 & 0 & 1 & 0 \end{pmatrix}P=
f/d0000f/d0000(f+n)/(f−n)100−2fn/(f−n)0

Where fff is the focal length and nnn is the near plane, and ddd is the distance from the
camera.

Combining Transformations

In practice, these transformations are often combined into a single matrix operation. To do this,
we multiply the matrices representing each transformation in the order they should be applied.
6. Homogeneous Coordinates

To perform all these transformations efficiently, 3D graphics systems use homogeneous

coordinates. This means representing 3D coordinates as a 4D vector, which allows translations
to be represented as matrix multiplications.

Example of a point P(x,y,z)P(x, y, z)P(x,y,z) in homogeneous coordinates:

Ph=(xyz1)P_h = \begin{pmatrix} x \\ y \\ z \\ 1 \end{pmatrix}Ph=xyz1

This allows for a unified approach to all transformations, making them easier to compute and
combine.
Numerical problem of transformation:-
Let's work through a numerical example involving 3D transformations. We will apply multiple
transformations — translation, rotation, and scaling — to a point in 3D space. We'll do the
following steps:

Problem:

Given the point P(1,2,3)P(1, 2, 3)P(1,2,3), perform the following transformations:

1. Translate the point by (3,−2,1)(3, -2, 1)(3,−2,1).

2. Rotate the point 90 degrees around the Z-axis.
3. Scale the point by a factor of 2 along the X-axis, 3 along the Y-axis, and 1 along the Z-
axis.

We'll compute each transformation step by step.

Step 1: Translation

Translation involves moving the point along the X, Y, and Z axes. The translation vector is
T=(3,−2,1)T = (3, -2, 1)T=(3,−2,1), and the point is P=(1,2,3)P = (1, 2, 3)P=(1,2,3).

To translate the point:

P′=P+T=(1+3,2−2,3+1)=(4,0,4)P' = P + T = (1 + 3, 2 - 2, 3 + 1) = (4, 0,
4)P′=P+T=(1+3,2−2,3+1)=(4,0,4)

So after the translation, the point becomes P′(4,0,4)P'(4, 0, 4)P′(4,0,4).

Step 2: Rotation

Now we rotate the point 90 degrees around the Z-axis. The rotation matrix for a 90-degree
rotation around the Z-axis is:

Rz(90∘)=(cos⁡(90∘)−sin⁡(90∘)0sin⁡(90∘)cos⁡(90∘)0001)R_z(90^\circ) = \begin{pmatrix}
\cos(90^\circ) & -\sin(90^\circ) & 0 \\ \sin(90^\circ) & \cos(90^\circ) & 0 \\ 0 & 0 & 1
\end{pmatrix}Rz(90∘)=cos(90∘)sin(90∘)0−sin(90∘)cos(90∘)0001

Since cos⁡(90∘)=0\cos(90^\circ) = 0cos(90∘)=0 and sin⁡(90∘)=1\sin(90^\circ) = 1sin(90∘)=1,

the matrix becomes:
Rz(90∘)=(0−10100001)R_z(90^\circ) = \begin{pmatrix} 0 & -1 & 0 \\ 1 & 0 & 0 \\ 0 & 0 & 1
\end{pmatrix}Rz(90∘)=010−100001

Now apply this matrix to the translated point P′(4,0,4)P'(4, 0, 4)P′(4,0,4):

(x′y′z′)=Rz(90∘)×(404)\begin{pmatrix} x' \\ y' \\ z' \end{pmatrix} = R_z(90^\circ) \times

\begin{pmatrix} 4 \\ 0 \\ 4 \end{pmatrix}x′y′z′=Rz(90∘)×404

Performing the multiplication:

x′=0×4+(−1)×0+0×4=0x' = 0 \times 4 + (-1) \times 0 + 0 \times 4 = 0x′=0×4+(−1)×0+0×4=0

y′=1×4+0×0+0×4=4y' = 1 \times 4 + 0 \times 0 + 0 \times 4 = 4y′=1×4+0×0+0×4=4
z′=0×4+0×0+1×4=4z' = 0 \times 4 + 0 \times 0 + 1 \times 4 = 4z′=0×4+0×0+1×4=4

So, after the rotation, the new coordinates of the point are (0,4,4)(0, 4, 4)(0,4,4).

Step 3: Scaling

Next, we apply scaling. The scaling factors are sx=2s_x = 2sx=2, sy=3s_y = 3sy=3, and sz=1s_z
= 1sz=1. The scaling matrix is:

S=(200030001)S = \begin{pmatrix} 2 & 0 & 0 \\ 0 & 3 & 0 \\ 0 & 0 & 1 \end{pmatrix}S=200

030001

Now, apply the scaling matrix to the rotated point (0,4,4)(0, 4, 4)(0,4,4):

(x′y′z′)=S×(044)\begin{pmatrix} x' \\ y' \\ z' \end{pmatrix} = S \times \begin{pmatrix} 0 \\ 4 \\ 4

\end{pmatrix}x′y′z′=S×044

Performing the multiplication:

x′=2×0+0×4+0×4=0x' = 2 \times 0 + 0 \times 4 + 0 \times 4 = 0x′=2×0+0×4+0×4=0

y′=0×0+3×4+0×4=12y' = 0 \times 0 + 3 \times 4 + 0 \times 4 = 12y′=0×0+3×4+0×4=12
z′=0×0+0×4+1×4=4z' = 0 \times 0 + 0 \times 4 + 1 \times 4 = 4z′=0×0+0×4+1×4=4

So, after scaling, the final coordinates of the point are (0,12,4)(0, 12, 4)(0,12,4).

Final Result:

After applying translation, rotation, and scaling, the final position of the point P(1,2,3)P(1, 2,
3)P(1,2,3) is:
(0,12,4)\boxed{(0, 12, 4)}(0,12,4)

This process demonstrates how to apply different transformations step by step to a point in 3D
space.