Unit IV : 3D Transformation

Three Dimensional
Transformations
 Three Dimensional Modeling
Transformations
 Methods for object modeling
transformation in three dimensions
are extended from two dimensional
methods by including consideration
for the z coordinate.
 Three Dimensional Modeling
Transformations
 Generalize from 2D by including z coordinate
 Straightforward for translation and scale,
rotation more difficult
 Homogeneous coordinates: 4 components
 Transformation matrices: 4×4 elements
 3D Point
 We will consider points as column vectors.
Thus, a typical point with coordinates (x, y, z)
is represented as:

 x
 y
 
 z 
 3D Point Homogenous Coordinate

A 3D point P is represented in
homogeneous coordinates by a 4-dim. Vect:

 x
 y
P  
 z
 
 1
 3D Point Homogenous Coordinate

We don't lose anything

 x


 The main advantage: it is easier to  y

compose translation and rotation  
 Everything is matrix multiplication  z
 
 1
 3D Coordinate Systems
 Right Hand  Left Hand coordinate
coordinate system: system:
 3D Transformation
 In homogeneous coordinates, 3D
transformations are represented by 4×4
matrixes:
a b c t
x

d e f t 
 y

g h i t
z
 
0 0 0 1
3D Translation
 3D Translation
 P is translated to P' by:
 x   1 0 0 tx   x
 y   0 1 0 t y   y 
   
 z   0 0 1 tz   z
     
 1  0 0 0 1   1

P T P
 3D Translation
 An object is translated in 3D dimensional by
transforming each of the defining points of the
objects .
 3D Translation
 An Object represented as a set of polygon surfaces, is translated
by translate each vertex of each surface and redraw the polygon
facets in the new position.

x' , y ' , z '

T t x , t y , t z 
x, y, z 

 Inverse Translation:
T (t , t , t ) T ( t , t , t )
1
x y z x y z
 3D Rotation
 In general, rotations are specified by a
rotation axis and an angle.
 In two-dimensions there is only one
choice of a rotation axis that leaves
points in the plane.
 3D Rotation
 The easiest rotation axes are those that parallel to
the coordinate axis.
 Positive rotation angles produce counterclockwise
rotations about a coordinate axix, if we are looking
along the positive half of the axis toward the
coordinate origin.
Coordinate Axis
Rotations
 Coordinate Axis Rotations
 Z-axis rotation: For z axis same as 2D rotation:
 x'  cos   sin  0 0  x 
 y '  sin  cos  0 0  y 
   
 z'  0 0 1 0  z 
     
 1  0 0 0 1  1 

P  R z (θ) P
 Coordinate Axis Rotations
 Obtain rotations around other axes through
cyclic permutation of coordinate parameters:
x y z x
 Coordinate Axis Rotations
 X-axis rotation:
 x'  1 0 0 0  x 
 y '  0 cos   sin  0  y 
     
 z '   0 sin  cos  0  z 
     
 1  0 0 0 1  1 

P R () P
x
 Coordinate Axis Rotations
 Y-axis rotation:
 x'  cos  0 sin  0  x 
 y '  0 1 0 0  y 
     
 z '    sin  0 cos  0  z 
     
 1  0 0 0 1  1 
P R () Py
General Three Dimensional
Rotations
 General Three Dimensional Rotations
Rotation axis parallel with coordinate axis (Example x axis):

1
P  T R x (θ ) T P
 General Three Dimensional Rotations
An arbitrary axis (with the rotation axis projected onto the Z
axis):

R (θ) T  1 R x 1 (α) R y1 (β) R z (θ) R y (β) R x (α) T

 General Three Dimensional Rotations
1 1 1
R (θ) T R (α) R (β) R z (θ) R y (β) R x (α) T
x y
 A rotation matrix for any axis that does not coincide
with a coordinate axis can be set up as a composite
transformation involving combination of translations
and the coordinate-axes rotations:
1. Translate the object so that the rotation axis passes through the
coordinate origin
2. Rotate the object so that the axis rotation coincides with one of
the coordinate axes
3. Perform the specified rotation about that coordinate axis
4. Apply inverse rotation axis back to its original orientation
5. Apply the inverse translation to bring the rotation axis back to its
original position
3D Scaling
 3D Scaling
 About origin: Changes the size of the object and
repositions the object relative to the coordinate origin.
 x   s x 0 0 0  x 
 y   0 sy 0 0  y 
   
 z   0 0 sz 0  z 
     
 1  0 0 0 1  1 

P  S P
 3D Scaling
 About any fixed point:

 sx 0 0 (1  s x ) x f 
0 sy 0 (1  s y ) y f 
T( x f , y f , z f ) S( s x , s y , s z ) T( x f , y f , z f )  
0 0 sz (1  s z ) z f 
 
0 0 0 1 
 Composite
3D Transformations
 Composite 3D Transformations
 Same way as in two dimensions:
 Multiply matrices
 Rightmost term in matrix product is the first
transformation to be applied
3D Reflections
 3D Reflections
 About an axis: equivalent to
180˚rotation about that axis
 3D Reflections
About a plane:

A reflection through the xy plane:
 x  1 0 0 0  x 
 y  0 1 0 0  y 
     
  z  0 0  1 0  z 
     
 1  0 0 0 1  1 


A reflections through the xz and the yz
planes are defined similarly.
3D Shearing
 3D Shearing
 Modify object shapes
 Useful for perspective projections:
 E.g. draw a cube (3D) on a screen (2D)

 Alter the values for x and y by an amount

proportional to the distance from z ref

 3D Shearing
1 0 shzx  shzx z ref 
0 1 shzy  shzy z ref 
M zshear 
0 0 1 0 
 
0 0 0 1 
 Transformations
Between
Coordinate Systems
Transformations Between Coordinate ystems
 Translate such that the origins overlap
 Rotate such that the axes overlap
y
y'

uy '
( x0 , y0 , z0 ) ux ' x'
(0,0,0) x
uz '

z z'

 u ' x1 u'x 2 u'x3 0

 u' u' y 2 u' y3 0
R T  y1 T  x0 , y0 , z0 
 u ' z1 u'z 2 u'z 3 0
 
 0 0 0 1