Concatenation Most applications require the use of more than one basi transformation to achieve the desired Tesults In such cases, the combined transformation matrix i obtained by multiplying the spective transformation matrices. This process is called concatenation. The concatenation matrix is given by: CB ih (430) Example Inthe text, a point (3,2) isto be scaled by a factor of 2 and rotted by 45°, Determine the transformed postion using (sequential transformations and (i) concatenated Tensformation matrix,Solution (@ Sequential transformatio The effect of scaling is given by: The effect of rotation is given by: 6) [cos45 -sin45 4J|sinas cos45 i) Using the concatenation matrix: The concatenation matrix is given by: cal? Feos4s -sinas]_fiata tare “lo 2}lsinas cosas [1.414 1.414 The effect of concatenation is given by: vom [3 ]fl4i4 -1414]_ ay [3a ian |-eonaan ary”) (7.07,1.41) ‘The same result is obtained by concatenating the two separate transformations.Reflection Reflection is also known as mirror. Reflection is useful in the construction of symmetric objects. If the model is symmetric with respect to a plane, only half the geometry is created, The half model is copied by reflection to develop the full model, The principle of reflection is shown in Figure 4.47. Mirrored copy Original y Dratt line al Distance to ful Distance from mirror plane mirror plane‘The reflection transformation is expressed as follows: Pt = MP where ‘tm, 0 0] [#1 0 0 M=| 0 +m, 0 |=[0 #1 0 0 0 tm} Lo o 41 Pis the given point. P’is the reflected point. For reflection through x = 0 plane: oe M o10 oO 1 For reflection through >y= 0 plane: ee mzlo -1 0 Oo 0 HL “reflection through z = 0 plane: oe M=lo 1 0 (4.43) (4.44) (4.45) (4.46) (4.47)Example - A triangle ABC with vertices A(3,2) B ( 9,2) C (3,8) is to be reflected. Give 3x3 thimaacncous Coordinate matrix for each of following reflections and also find the new position ofthe vertices. a) Reflect about x-axis b)Reflect about y-axis, ©) Reflect about origin ¢)Reflect about a line y 2) Reflect about x-axis Here 2 D homogeneous matrix for x-Flip (Fx) is given by ~ 1 0 0 Fx-]O <1 0 oo 4 ‘dx’ Ay’ 1) [ax dy 1] [1 (0 0 ct oy i le go iflo o 1 ‘Av 4y IP 73-2 1] f1 0 Oo Bx’ By 1]= ]9 2 1/x}0.-1 0 ce oy fe al | oeeae At Ay 1] 73,-2 1 Bx By AJ=|9 -2.1 ce cy tf [3-8 1 ‘Thus when we reflect object about X exis, the sign of y coordinates are changed and x ‘coordinates remains unchanged.b) Reflect about y-axis 0 Here 2 D homogeneous matrix for y-Flip (Fy) is given by-| 0 1 00 a) ‘Therefore. P'= Px Fy Bs’ By 1J=|-9 21 Cx! Cy Ap [3 Be ‘Thus when we reflect object about Y axis, the sign of x coordinates are changed and ¥ coordinates remains unchariged .c) Reflect about origin -1 0 0 Here 2 D homogeneous matrix for.O-Flip (Fo) is givenby-] 0 -1 0 ool Therefore P'= Px Fo Ax Ay' 1] [3 2 I] [-1 0 0 Bx’ By’ 1]=|9 2 1|x} 0 -1. 0 cy oy 1) [3 8 Lo 1 Av Ay) 1) [-3 -2.1 Bs’ By ‘1J=|-9 -2 1 Ce oy it] [+3 -8 1 Thus when we reflect object about origin, both the sign of x and y coordinates are changed.d) Reflect about a line ¥=X Here a line Y = X passes through origin and is inclined at 45° with X axis. Therefore, homogeneous matrix for a-Flip (Fa) is given by - Cos(2@) Sin(2@). 0] [Cos(90) sin(90) 0] fo 1 0 Sin(2@) -Cos(26) 0|=| Sin(90) -Cos(90) O]=]1 0 0 0 0 1 0 0 1 oo01 Therefore P'= Px Fa ‘Ax’ Ay! Bx’ By' Cx! Cy! ‘Ax, Ay! By By I= cx Cy 1 [Thus when we reflect object about a line Y= X, x and y coordinates are interchanged. W oN NS we osShear TransfermatianShear (Twist) Transformation: Shear or twist transtormation is another common manipulation which refers to as Tilt in ‘aintbrush. In shear transformation shape of object is slanted. Two common shearing sformations are used» one shifts x co-ordinate values and other shifts y-co-ordinate values. FFig.(4.8a) shows rectangular object before shearing transformation. , Fig.(4.6a) Before ShoarIn x shearing only x value changes without changing y value which causes vertical ines to tilt right or left. For example when a thick piece of rubber is pressed and moved ‘ways at the top without allowing the bottom to slip., then the rectangular shape of the ends distorts into a parallelogram with the two vertical sides inclined as shown in figure (4.8b). If the point P(x,y) is sheared horizontally by a factor Sh, then position of P’(x: respect to origin is given by- x’SxtShoy and y’ =y. Thus by representing above equations in matrix form we get X-shear - with ‘Thus by representing above equations in matrix form we get X-shear ~ 1 0 0 fe yt t= » Ix) S41 0 lo o 1] [e¥ » tele y ifxxsIn y shearing, only y value changes without changing x value which causes horizontal lines to tilt up or down. For example if the same is done with rubber block pressing against vertical surface, the horizontal surface will take up an inclined position as in fig (4.8) If the point P7x.y) is sheared horizontally by a factor Sh, then position of Py) with respect to origin is given by- yrey+Sb.x and x! =x. ‘Thus by representing above equations in matrix form we get Y-shear ~ 1 Sk, 0) fe y tek y ilo 1 0 oo 1 oy tele » pos fh sh, 0) ‘Where Sh-Y is Y-shear transformation matrix, ¥S=!0 1 0. wl » ese Ss 5 r fl a + w a se Fig. (4.8e) Sheard along y ane Fig. (4.80) Sheared along x axisIf the point Psy) is sheared horizontally by a factor Si, and vertically by a factor Si then position of P '@x'y’) with respect to origin is given by- feo Y= » exes 1 Sh, 0 XYS=|Sh, 1 0 “Lo. 0 1 We can also apply x shear and y shear transformations relat x shear we can use y reference Jine and in y shear we can use x sformation matrices for these situations are given by- other re ce li ference line. Thus 1 00 X-shear with y ref Sh, 10 - Sh, -Yref 0 1 1 Shy ‘] Y-shear with X ref. Line =| 0 1 0 0 =h, Xref 1panne 4.7- Apply sheanng transformation toa rectangle ABCD with vertices A(0,0) B(0,2) C (2,2) and D(2,0) as given below and find the new position of the vertices a) Shear by factor 0.5 in x- direction » Shear by factor [Link] x and y direction @)._Shear parameter valu of. relative othe ine Vref =-1 d) Shear parameter value of 0.5 relative to the line Yref = ion- a) Shear by factor 0.5 in x-direction (Fig.t.9s) 1.00 XS =| Sh, 1 0 . 0 01 | Ax Ay Ax Ay 1) 1007 Be BY Al) Be By) ; Ce Cyt | lCx Cy I . Dx Dy 1| [px py i} +? ° anal pone, o o[4 41] fo 04 Be ey 021) |g fae a uf_fa 21 Cx! Cy 1 2.24 oo [oo ts 28 Dx Dy i) [2 01 ‘Loe py il lz 04b) Shear by factor 0.5 in x and y direction (Fig.4.9b) 1 Sh, OF XYS=|Sh, 1 0 0 01Figure 4.9 Figure 4.9 b9) Shear parameter value of 0.5 relative to the line Yref =-I_(Fig-4.C) Shx = 0.5 and Yref = 1 1 0 0) X-shear with y ref. Line =| Sh, 10 —Sh,.Yref 01, Ax Ay TY] fax ay 1 Be By 1|_| Be By 1 1 o 90 ce ov il lee oy 1|* Sh, 1 0 De py 1] [pe py i] LoS rer 01 ay" oo By" o 2 o° " 22 10 20 1) O71 DRE & ¥ RQEE ve W O884 Shear parameter value of 0.5 relative to the line Xref = -1 Y-shear with X ref. Line = (i 1 ae. Bx’ Cr Dx Ae Bx’ oe Dx Ax’ Be co Dx’ rigsss 1 Sh, 0] ol 0 ~Sh,+Xref 1) Co Sh 0 2 {2 1 0 ora 0 = Sh, Xref 1 aa 105 0 aio 1 8 03) lo 5 2 os 1 251 351 1s 1Figuredc - ' Figure 4.9 d