1

Transformations
Translation, Rotation, Scale
Composite transformations
2
Homogeneous Coordinates
Homogeneous coordinates are key to all
computer graphics systems
Hardware pipeline all work with 4 dimensional
representations
All standard transformations (rotation,
translation, scaling) can be implemented by
matrix multiplications with 4 x 4 matrices
2
3
A Single Representation
With these rules, we can keep track of the
difference:
v=o
1
v
1
+ o
2
v
2
+o
3
v
3
= [o
1
o
2
o
3
0 ] [v
1
v
2
v
3
P
0
]
T
P = P
0
+ |
1
v
1
+ |
2
v
2
+|
3
v
3
= [|
1
|
2
|
3
1 ] [v
1
v
2
v
3
P
0
]
T
Thus we obtain a four-dimensional
representation for both:
v = [o
1
o
2
o
3
0 ]
T
p = [|
1
|
2
|
3
1 ]
T
4
Affine Transformations
Line preserving
Characteristic of many physically
important transformations
- Rigid body transformations: translation, rotation
- Non-rigid: Scaling, shear
Importance in graphics is that we need
only transform vertices (points) of line
segments and polygons, then system
draws between the transformed points
3
5
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
6
Moving objects
When we move a point on an object to a new
location, to preserve the object, we must move
all other points on the object in the same way
object translation: every point displaced
by the same vector, d
4
7
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+d
x
y=y+d
y
z=z+d
z
note that this expression is in
four dimensions and expresses
that point = vector + point
8
Translation Matrix
We can also express translation using a
4 x 4 matrix T in homogeneous coordinates
p=Tp where
T = T(d
x
, d
y
, d
z
) =
This form is better for implementation because all affine
transformations can be expressed this way and
multiple transformations can be concatenated together
(
(
(
(

1 0 0 0
d 1 0 0
d 0 1 0
d 0 0 1
z
y
x
5
9
Rotation (2D)
Consider rotation about the origin by u degrees
- radius stays the same, angle increases by u
What is this rotation
about the z axis?
10
Rotation (2D)
Consider rotation about the origin by u degrees
- radius stays the same, angle increases by u
x=x cos u y sin u
y = x sin u + y cos u
x = r cos |
y = r sin |
x = r cos (| + u)
y = r sin (| + u)
6
11
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 matrix notation (with p as a column)
p=R
z
(u)p
x=x cos u y sin u
y = x sin u + y cos u
z =z
12
Rotation Matrix
(
(
(
(

u u
u u
1 0 0 0
0 1 0 0
0 0 cos sin
0 0 sin cos
R = R
z
(u) =
Homogeneous Coordinates:
7
13
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 = R
x
(u) =
R = R
y
(u) =
(
(
(
(

u u
u u
1 0 0 0
0 cos sin 0
0 sin - cos 0
0 0 0 1
(
(
(
(

u u
u u
1 0 0 0
0 cos 0 sin -
0 0 1 0
0 sin 0 cos
14
Scaling
(
(
(
(

1 0 0 0
0 0 0
0 0 0
0 0 0
z
y
x
s
s
s
S = S(s
x
, s
y
, s
z
) =
x=s
x
x
y=s
y
y
z=s
z
z
p=Sp
Expand or contract along each axis (fixed point of origin)
8
15
Reflection
corresponds to negative scale factors
original
s
x
= -1 s
y
= 1
s
x
= -1 s
y
= -1 s
x
= 1 s
y
= -1
16
Basic transforms in
OpenGL
9
17
Inverses
Although we could compute inverse matrices by
general formulas, we can also use simple
geometric observations, for example:
- Translation: T
-1
(d
x
, d
y
, d
z
) = T(-d
x
, -d
y
, -d
z
)
- Rotation: R
-1
(u) = R(-u)
Holds for any rotation matrix
Note that since cos(-u) = cos(u) and sin(-u)= -sin(u)
R
-1
(u) = R
T
(u)
- Scaling: S
-1
(s
x
, s
y
, s
z
) = S(1/s
x
, 1/s
y
, 1/s
z
)
18
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 combination of transformations must be
managed with care, b/c order matters
10
19
Order of Transformations
Note that matrix on the right is the first
applied
Mathematically, the following are
equivalent
p = ABCp = A(B(Cp))
(but does not = CBA p)
Some references use row matrices to
present points. In terms of rows, we get
p
T
= p
T
C
T
B
T
A
T
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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 composite transformation to
its vertices to
Scale
Orient
Locate
Order of Transformations
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21
Composite Transformations
Scaling about a fixed point
- Applying the scale transformation also
moves the object being scaled.
P
Q
P'
Q'
22
Composite Transformations
Exception: Scaling about origin -> no movement
Origin is a fixed point for the scale transformation
We use composite transformations to create scale
transformations with different fixed points
P
Q
P'
Q'
12
23
Composite Transformations
Fixed point scale transformation
Move fixed point (px,py,pz) to origin
Scale by desired amount
Move fixed point back to original position
M = T(px, py, pz) S(s
x
, s
y
, s
z
) T(-px, -py, -pz)
24
Composite Transformations
Rotating about a fixed point
- basic rotation alone will rotate about origin
but we want:
13
25
Composite Transformations
Rotating about a fixed point
Move fixed point (px,py,pz) to origin
Rotate by desired amount
Move fixed point back to original position
M = T(px, py, pz) R
x
(u) T(-px, -py, -pz)
26
Composite Transformations
14
27
Rotation about an arbitrary
axis
Rotating about an axis by theta degrees
Rotate about x to bring axis to xz plane
Rotate about y to align axis with z -axis
Rotate theta degrees about z
Unrotate about y, unrotate about x
Can you determine the values of Rx and Ry?
M = Rx
-1
Ry
-1
Rz(u) Ry Rx
28
Composite transformations
A series of transformations on an
object can be applied as a series of
matrix multiplications
: position in the global coordinate
: position in the local coordinate