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OpenGL 3D Math for Java Developers

This document discusses mathematical foundations and matrix operations for 3D computer graphics. It covers 3D coordinate systems, 4x4 transformation matrices for translation, rotation, and scaling, and how to multiply vectors and matrices. Matrix multiplication is associative and transformations can be concatenated. The inverse of a matrix undoes the transformation. Common matrix types include translation, rotation, scale, and projection. Rotation matrices for each axis are provided, and JOML library functions for transforming vectors are described.

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Sahrudai Bondalapati
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55 views14 pages

OpenGL 3D Math for Java Developers

This document discusses mathematical foundations and matrix operations for 3D computer graphics. It covers 3D coordinate systems, 4x4 transformation matrices for translation, rotation, and scaling, and how to multiply vectors and matrices. Matrix multiplication is associative and transformations can be concatenated. The inverse of a matrix undoes the transformation. Common matrix types include translation, rotation, scale, and projection. Rotation matrices for each axis are provided, and JOML library functions for transforming vectors are described.

Uploaded by

Sahrudai Bondalapati
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Chapter 3

Mathematical Foundations

Computer Graphics
Programming in OpenGL with
Java

3rd edition
V. Scott Gordon and John
Clevenger
3D Coordinate Systems

In Direct3D In OpenGL
3D Point or Vector: [xyz1]
“homogeneous notation”

Matrices used in 3D graphics are typically 4x4:


Identity Matrix
multiplying a matrix by a matrix:

*
Aa+Be+Ci+Dm Ab+Bf+Cj+Dn Ac+Bg+Ck+Do Ad+Bh+Cl+Dp
Ea+Fe+Gi+Hm Eb+Ff+Gj+Hn Ec+Fg+Gk+Ho Ed+Fh+Gl+Hp
= Ia+Je+Ki+Lm
Ma+Ne+Oi+Pm
Ib+Jf+Kj+Ln Ic+Jg+Kk+Lo
Mb+Nf+Oj+Pn Mc+Ng+Ok+Po
Id+Jh+Kl+Lp
Md+Nh+Ol+Pp
multiplying a matrix by a matrix:

*
Aa+Be+Ci+Dm Ab+Bf+Cj+Dn Ac+Bg+Ck+Do Ad+Bh+Cl+Dp

= Ea+Fe+Gi+Hm
Ia+Je+Ki+Lm
Ma+Ne+Oi+Pm
Eb+Ff+Gj+Hn Ec+Fg+Gk+Ho
Ib+Jf+Kj+Ln Ic+Jg+Kk+Lo
Mb+Nf+Oj+Pn Mc+Ng+Ok+Po
Ed+Fh+Gl+Hp
Id+Jh+Kl+Lp
Md+Nh+Ol+Pp

2 3 3 2 2*3+3*4 2*2+3*4 18 7

1 5
* 4 1
= 1*3+5*4 1*2+5*1
= 23 7

3 2 2 3 ? ? 8 19

4 1
* 1 5
= ? ?
= 9 17
Matrix Multiplication

multiplying a vector (or point) by a matrix:

*
Matrix multiplication is associative
(this will become useful later)

New Point = Matrix1 * (Matrix2 * (Matrix3 * Point))


New Point = (Matrix1 * Matrix2 * Matrix3) * Point

and thus, equivalently:


MatrixC = Matrix1 * Matrix2 * Matrix3
New Point = MatrixC * Point

In this example, MatrixC is often called the


concatenation of Matrix1, Matrix2, and Matrix3
Inverse of a matrix

Inverse of A is A-1 s.t.


A*A-1 = A-1*A = identity matrix

Example:
Matrix Transforms

Useful for us:

● Translation
● Rotation
● Scale
● Projection
● Look-At
Translation Matrix

in JOML:
• Matrix4f.settranslation(x,y,z)
• Vector4f.mul(Matrix4f)
• Vector4f.mulPosition(Matrix4f)
Scale Matrix

in JOML:
• Matrix4f.scaling(x,y,z)
• Vector3f.mul(Matrix4f)
Rotation Matrix

Rotation around
X by θ degrees

Rotation around
Y by θ degrees

Rotation around
Z by θ degrees
in JOML:

• Matrix4f.rotateX(radians)
• Matrix4f.rotateY(radians)
• Matrix4f.rotateZ(radians)
• Matrix4f.rotateXYZ(θx,θy,θz)
• Vector3f.mul(Matrix4f)
In the mid-1700s, the mathematician Leonhard Euler
showed that a rotation around any desired axis could
be specified instead as a combination of rotations
around the X,Y, and Z axes.
These three rotation angles, around the respective
axes, have come to be known as Euler angles.

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