3D Transformation

Chapter 8
3-D Transformations
3D Viewing Pipeline
Primitives
Object space
Modeling Transformation
World space
Viewing Transformation
Camera space
Hidden Surface Removal
Lighting & Shading
3D-Clipping
Projection
Normalized view space

Scan conversion, Hiding
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Image
Image space,
Device coordinates
Contents
1.
2.
3.
4.
5.
6.
7.
3D Coordinate System
Vector Fundamentals
3D Homogeneous Coordinate
3D Geometric Transformations
3D Inverse Transformations
3D Coordinate Transformations
Composite transformations
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3D coordinate system consists of a reference point called
origin and three mutually perpendicular passing through
origin.
y axis
y
z
x
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z axis
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x axis
Right-Hand
Reference System
y axis
A point P(x,y,z) specifies that point

is
At a distance of x units from YZ-plane
At a distance of y units from XZ-plane
At a distance of z units from XY-plane
z
x
z axis
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x axis
5
Contents
1.
2.
3.
4.
5.
6.
7.
Vector Fundamentals
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Vector Fundamentals
In 3D there are 3 natural coordinate vectors I, J and K having
unit along X, Y and Z axis respectively.
y axis
Any vector V = aI+bJ+cJ can be

resolved into three components
(a,b,c) that represent corresponding
point when the tail of V is placed at
the origin.
V=aI+bJ+cK
P(a,b,c)
z
x
z axis
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x axis
7
Vector Fundamentals
If P(x0,y0,z0) and Q(x1,y1,z1) are two points in space then
PQ = (x1 xo)I+ (y1 yo)J+ (z1 zo)K
y axis
Vector has two attributes:
length- a scalar denoted by |v|

direction in 3D space
P(a,b,c)
Equality: Two vectors are equal if

they have same length and direction
z axis
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V=aI+bJ+cK
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z
x
x axis
8
Vector Fundamentals
1.
Vector Addition: perform addition by the head-to-tail rule.

Note u+v = v+u
u
v
u+v
v+u
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Vector Fundamentals
2.
Vector Subtraction: To perform subtraction, given u and v,

we define u - v to be u + (-v):
Note u - v v u
-v
u-v
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Vector Fundamentals
3.
4.
Zero Vector: i.e. vector with zero length and no direction.

v + (-v) = 0
Magnitude of Vector of a vector u = aI+bJ+cK is a scalar
quantity defined as:
u a b c
2
5.
Unit vector for any vector u is a vector having direction of u

and unit magnitude. It can be found as
u
uv
u
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-v
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11
Vector Fundamentals
Scalar Multiplication: (Scalar times a vector ) Let be a
scalar and u a vector we define u to be the vector with
length | ||u| with
6.
the direction of u if > 0

the opposite of u if < 0
if = 0, the vector is the zero vector or a point.

u
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2u
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-3u
12
Vector Fundamentals
7.
Dot Product: Given two vectors u = a1I+b1J+c1K and v =

a2I+b2J+c2K the dot product of the vectors is defined to be
the scalar as follows
u.v = a1.a2+b1. b2+c1.c2
or u.v = |u| |v| cos , 0
where is the angle between u and v
Also
cos = u.v /|u| |v|
Or = cos-1(u.v /|u| |v|)
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Vector Fundamentals
The dot product is a scalar value that tells us something
about the relationship between two vectors
If uv > 0 then 0< < 90
Vectors point in the same general direction
If uv < 0 then > 90
Vectors point in opposite direction
If uv = 0 then = 90
Vectors are perpendicular
(or one or both of the vectors is degenerate (0,0,0))
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Vector Fundamentals
8.
Cross Product: Given two vectors u = a1I+b1J+c1K and v =

a2I+b2J+c2K the cross product of the vectors is defined to be
the new vector whose length is |u||v| sin , 0 and
direction is given by the right hand rule.
u x v = (b1.c2 c1. b2)I+ (c1.a2 a1. c2)J+ (a1.b2 b1. a2)K
or |u x v| = |u| |v| sin , 0 where is the angle b/w u & v

u
sin = |u x v| /|u| |v|

Or = sin (|u x v| /|u| |v|)
-1
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uXv
15
Vector Fundamentals
In a Right handed coordinate System
J
IxJ=K
JxK=I
I x K = -J
or K x I = J
K
I
Right-Hand
Reference System
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Contents
1.
2.
3.
4.
5.
6.
7.
Vector Fundamentals
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17
3D Homogeneous Coordinates
Similar to the 2-D situation we can use homogeneous
coordinates for 3-D transformations - 4 coordinate
y axis
column vector
All transformations can
then be represented
as matrices x
P(x, y, z) =
y

z
z
x
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z axisGraphics
Computer
x
18
axis
Transform a point:
px
mxx
p
m
y
yx
pz
mzx

1

0
mxy
myy
mzy
0
mxz
myz
mzz
0
dx
dy
dz
px mxx px mxy py mxz pz d x

p m p m p m p d
yy y
yz z
y
y yx x
pz mzx px mzy py mzz pz dz

1
0
px
r

M py d
pz
Top three rows are the affine transform!

Bottom row stays 1
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Transform a vector:
vx
mxx
v
m
y
yx
vz
mzx

0
0
mxy
myy
mzy
0
mxz
myz
mzz
0
dx
dy
dz
vx mxx vx mxy vy mxz vz 0

v m v m v m v 0
yy y
yz z
y yx x
vz mzx vx mzy vy mzz vz 0

0000
0
vx

M vy
vz
Top three rows are the linear transform

Displacement d is properly ignored
Bottom row stays 0

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In Homogeneous arithmetic Legal operations always end in
0 or 1!
M
vector+vector:
0
0
scalar*vector:s

point+vector:

1
0
vectorvector:
0
M
0
M
1
1
0
M
point+point:
1
1
2
M
scalar*point:s
1
s
pointpoint:
weightedaverage
affinecombination
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ofpoints:
1 M
2 M
3 1
3 1
1
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Rotation, Scale, and Translation of points and vectors unified
in a single matrix transformation:
p Mp
mxx
m
Where M = yx
mzx
Matrix has the form:

Last row always 0,0,0,1
mxy
myy
mzy
0
mxz
myz
mzz
0
dx
dy
dz
Transforms compose by matrix multiplication.

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Contents
1.
2.
3.
4.
5.
6.
7.
Vector Fundamentals
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Geometric Transformations: In Geometric transformation an
object itself is moved relative to a stationary coordinate system
or background. The mathematical statement of this view point is
described by geometric transformation applied to each point of
the object. Various Geometric transformations are:
Translation
Scaling
Rotation
Reflection
Shearing
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Once we have an object described, transformations are used to
move that object, scale it and rotate it
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Geometric Transformations
Translation
Scaling
Rotation
Reflection
Shearing
3D Geometric Translation
Translation is defined as the displacement of any object by a
given distance and direction from its original position
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To translate a point in three dimensions by tx, ty and tz simply
calculate the new points as follows:
x = x + tx
y = y + ty z = z + tz
(x, y, z)
(x, y, z)
Translated Position
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The translation of a point P(x,y,z) by (tx, ty, tz) can be
written in matrix form as:
P Tv ( P) where v tx I ty J tz K
1 0 0 tx
0 1 0 ty
Tv
0 0 1 tz
0
0
0
1
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x
y

z
'
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x
y

30
Translation
Scaling
Rotation
Reflection
Shearing
3D Geometric Scaling
Scaling is the process of expanding or compressing the
dimensions of an object determined by the scaling factor.
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To scale a point in three dimensions by sx, sy and sz simply
calculate the new points as follows:
x = sx*x
y = sy*y
z = sz*z
(x, y, z)
(x, y, z)
Scaled Position
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The scaling of a point P(x,y,z) by scaling factors Sx, Sy
and Sz about origin can be written in matrix form as:
P Ssx , sy , sz ( P ) where
sx 0 0
0 sy 0
Ssx , sy , sz
0 0 sz
0 0 0
such that
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x
y
z
'
0
0
0
x
y
sx 0 0
0 sy 0
0 0 sz
0 0 0
'
x
y
P
z

1
1
0 x sx x
0 y sy y
0 z sz z

1 1 1
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Translation
Scaling
Rotation
Reflection
Shearing
3D Geometric Rotations
When we performed rotations in two dimensions we only
had the choice of rotating about the z axis
In the case of three dimensions we have more options
Rotate about x pitch
Rotate about y yaw
Rotate about z - roll
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Roll is known as the rising or dipping of the airplane's wing. The movement is done
about Longitudinal axis. The Ailerons controlling the roll are located on the
trailing edge of both wings.
Pitch refers to the movement of the airplane's nose either up or down. It movement
is done about Lateral axis. The elevator controls the pitch is also located on the
rear of the aircraft on the tail, along with the rudder.
Yaw allows the airplane to move towards the left or right while in flight. The
movement is done about a ventricle axis. The yaw is controlled by the rudder
located in the rear of the aircraft on the tail.
Roll
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Pitch
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Yaw
37
Rotate about z axis: The picture shows a z-axis rotation
around the origin in a positive angle, (Anti-clockwise) as you
look down the z-axis towards the origin. The angle is
measured in the xy-plane from the x-axis, just as in 2D.
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Rotate about y axis: You are looking down the y-axis
which is not shown. A positive (counter-clockwise) angle is
shown.
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Rotate about x axis: You are looking down the x-axis
which is not shown. A positive (counter-clockwise) angle is
shown.
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The equations for the three kinds of rotations in 3-D are
x = xcos - ysin
y = xsin + ycos
z = z
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x = x
y = ycos - zsin
z = ysin + zcos
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x = zsin + xcos
y = y
z = zcos - xsin
41
The scaling of a point P(x,y,z) by an angle of about
different axis about origin can be written in matrix form as:
P R , axis ( P)
where
cos
0
R , J
sin
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x
y
'
cos
sin
R , K
0 cos
0
0
0
0
1
0 cos
R , I
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sin
cos
0 sin
1
0
0
x
y

0 sin
0
0 0
0 0
1 0
0 1
0
0
sin 0
cos 0
0
1
42
Translation
Scaling
Rotation
Reflection
Shearing
3D Geometric Reflections
We can perform reflections relative to a selected reflection axis
or with respect to a reflection plane.
Reflections relative to a given axis are equivalent to 180
rotations about that axis.
Reflections with respect to a plane are equivalent to 180
rotations in 4D space.
3 standard Reflections are
About z axis or with respect to xy plane
About y axis or with respect to zx plane
About x axis or with respect to yz plane
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Reflection about XY plane: Reflection relative to the xy
plane can be obtained from following set of equations:
x = x
y = y
z = z
In homogenous matrix form
P' = Mxy(P)
where
M xy
1 0
0 1
0
0
0
0
0 0 1 0
0 0
Reflections about other planes can also be obtained by

symmetry.
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Reflection about XY plane is a useful reflection as it
converts a right-handed coordinate system into a left-handed
coordinate system.
y
y
z
x
x
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Contents
1.
2.
3.
4.
5.
6.
7.
Vector Fundamentals
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Inverse Transformations
Inverse Translation:
Inverse Scaling:
Tv Tv
1
S sx,sy ,sz S1/ sx,1/ sy ,1/ sz

1
Inverse Rotations:
R , p R , p
Inverse Reflections:
M plane M plane
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Contents
1.
2.
3.
4.
5.
6.
7.
Vector Fundamentals
Combining transformations
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Coordinate Transformation: The object is held
stationary while coordinate system is moved relative
to the object. These can easily be described in terms
of the opposite operation performed by Geometric
transformation.
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Coordinate Translation:
T v Tv Tv
1
S sx ,sy ,sz S sx ,sy ,sz S1/ sx ,1/ sy ,1/ sz
Coordinate Scaling:
Coordinate Rotations:
Coordinate Reflections:
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R , p R , p R , p
1
M plane M plane M plane
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Contents
1.
2.
3.
4.
5.
6.
7.
Vector Fundamentals
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Composite Transformation
Various composite transformations are

1.
2.
3.
4.
5.
Scaling about arbitrary point P

Tilting as rotation about x-axis followed by y-axis
Aligning vector V with K (Z axis)
Rotation about arbitrary axis L
Mirror Reflection about arbitrary plane (N, R0)
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Exercise 1
Scaling about arbitrary point P
Imagine scaling an object around a point (a,b,c) other than the origin
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Translate point (a,b,c) to origin

Scale around origin
Translate back to point
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Exercise 1
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Exercise 1
1.
Let P is the object point which is to be scaled by factors sx, sy and sz about
the fixed point (a,b,c). Then the composite transformation S sx,sy,sz,(a,b,c) can be
obtained by performing following sequence of transformations :
Translate (a,b,c) to origin and the new object point is found as
P1 = TV(P) where V= aI bJ cK
2.
Scale object about origin and the new object point is

P2 = Ssx,sy,sz(P1)
3.
Retranslate (a,b,c) back the final object point is

PF = T-1V(P2) = T-V (P2)
The composite transformation can be obtained by back substituting

PF = T-1V(P2)
= T-V Ssx,sy,sz(P1)
= T-V Ssx,sy.TV(P) where V= aI bJ cK
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Exercise 1
Thus we form the matrix to be Ssx,sy,sz(a,b,c)= T-VSsx,sy,szTV
And the composite scaling transformation matrix is
1 0 0 a sx 0 0 0 1
0 1 0 b 0 sy 0 0 0

S sx , sy , sz ( a ,b,c )
0 0 1 c 0 0 sz 0 0

0 0 0 1 0 0 0 1 0
sx 0 0 a.sx a
0 sy 0 b.sy b
0 0 sz c.sz c
1
0 0 0
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0 0 a
1 0 b
0 1 c
0 0
60
Exercise 2
Define tilting as rotation about the x-axis followed by a
rotation about y-axis.
a)
Find the tilting matrix T = Ry,J x Rx,I
b)
Does order of rotation matters ?
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Exercise 3
Z axis
Aligning vector V with Vector K

Let V = aI+bJ+cK then the alignment can be
performed by following sequence of
operations:
Rotate V about X-axis by an angle of 1, so
that V rotates into upper -half of the xz
plane. V= R1,I(V)
Rotate V about Y-axis by an angle of -2,
so that V rotates and align with Z axis.
V= R -2,J(V ).
P(a,b,c)
c
a
V
b
Y axis
X axis
How to get these two angles???
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Exercise 3
Z axis
Step1: Rotate V about X-axis by an angle of

1, so that V rotates into upper -half of the xz
plane. V= R1,I(V)
P(0,b,c)
Q(a,0, b2+c2
P(a,b,c)
Let P be projection of P(a,b,c) in YZ plane.

P(0,b,c). If 1 be the angle that OP
makes with +ve Z-axis, then from OPC

sin 1
cos 1
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b2 c2
c
b2 c2
Y axis
X axis
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Exercise 3
Rotate vector V about X-axis by an angle of 1
V= R1,I(V) or Q = R
1,I
Where
R1 , I
(P)
0
1
0 cos
1
0 sin 1
0
0
0
0
sin 1
cos 1
sin 1
cos 1 0
0
b
b2 c2
c
b2 c2
Does V have rotated into upper -half of the xz plane?

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Exercise 3
1
0
cos 1
sin 1
sin 1
cos 1
Q R1 , I ( P )
0
c
b2 c2
b
b2 c2
0
0
0
b2 c2
c
b2 c2
0
b
c
cb bc
a
0
b
.
0 c
1

1
b2 c2
b2 c2
b2 c2
b c
2
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0
b
0
0
0

1
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65
Exercise 3
Z axis
Step2: Rotate V about Y-axis by an angle of

2 , so that V aligns with +ve Z axis. V=
R1,I(V)
R(0,0, a2+b2+c2)
Q(0,0, b2+c2)
V
Q(a,0, b2+c2)
Let Q be projection of Q(a,0,b2+c2) on Z

axis, Q(0,0, b2+c2 ). If 2 be the angle
that OQ makes with +ve Z-axis, then from
a
OQQ
sin 2
a2 b2 c2
cos 2
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b2 c2
a 2 b2 c2
P(0,b,c)
a
C
V
2
O
A
P(a,b,c)
Y axis
X axis
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66
Exercise 3
Rotate vector V about Y-axis by an angle of 2
V= R-2,J(V) or R = R-
2,J
Where
R 2 , J
cos 1
0
sin 2
(Q)
0 sin 2
1
0
0 cos 2
0
0
0
0
0
sin 2
cos 2
a
a2 b2 c2
b2 c2
a2 b2 c2
Does V have aligned Z axis?

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67
Exercise 3
cos 2
0
R R 2 , J (Q )
sin 2
b2 c2
a b c
0
a
a b c
0
0
1
0
sin 2
1
0
0
0
cos 2
0
a b c
0
b2 c2
2
a2 b2 c2
0
a b c
0
2
a b2 c2
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a 2 b2 c2
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2
2
b c
a b2 c2 a b2 c2
0
0
0

1
0

0 .

0

1
2
2
b c
1
2
2
2
a b c
68
Exercise 3
Composite Matrix AV,K can be found as
R R 2 , J (Q) R 2 , J * R1 , I ( P )
b2 c2
a2 b2 c2
0
a
a2 b2 c2
0
V
0
a
V
0
0
1
0
0
V
0
V
0
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1
0
a2 b2 c2
0
2
b c2
a2 b2 c2
0

0 .
0

1
1
0
0
0
0
c
0
b
1
0
0
0 .

0 0

1 0

V
V
0
0
c
b2 c2
b
b2 c2
0
ab
V
c
b
V
0
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0
b
b2 c2
c
b2 c2
0
ac
V
b
c
V
0
b2 c2
where
V a2 b2 c2
1
69
Exercise 3
Corollary I: If both b = c =0
then 0, V a
AV , K a0
a
0
a
0
a
1
0
0
and 2 900
0 .
0
R 2 , J
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Exercise 3
Corollary II: The inverse of AV,K can be found as
A1V , K ( R 2 , J . R1 , I ) 1
R
1
1 , I
1 , I
.R
.R
2 , J
2 , J
( R 2 , J . R1 , I )
( AV , K )
A
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V ,K
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Exercise 4
Find transformation AV,N that aligns vector V = 2I J K with
another N = I+J+K.
AV ,N
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4
18
1
18
1
18
0
1
18
2
1
18 2
2
1
18 2
0
0
18
2
1
18 2
2
1
0
18 2
0
1
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Exercise 5
Rotation by an angle about arbitrary axis L specified by a
direction vector V and fixed point P0.
The transformation can be found as:
1. Translate P0 to origin.
2. Align Vector V with K.
3. Rotate object about Z axis by angle .
4. Realign vector V back.
5. Retranslate P0 back.
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Exercise 5
If P is the object point the sequence of transformations is:
1.
Translate P0 to origin
P1 = T-P0(P)
P2 = AV,K(P1)
2.
Align Vector V with K.
3.
Rotate object about Z axis by angle . P3 = R,K(P2)
4.
Realign vector V back.
5.
Retranslate P0 back. P5 = T-1-P0(P4)
P4 = A-1V,K(P3)
Thus P5 = T-1-P0(P4)
= T-1-P0.A-1V,K(P3)
= T-1-P0.A-1V,K. R,K(P2)
= T-1-P0.A-1V,K. R,K. AV,K(P1)
= T-1-P0.A-1V,K. R,K. AV,K. T-P0(P)
Thus we form the matrix to be R,L= T-1-P0 A-1V,K R,K AV,KT-P0

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74
Exercise 5
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75
Exercise 6
The pyramid is defined by A(0,0,0), B(1,0,0), C(0,1,0) and D(0,0,1) is
rotated by 450 about line L in the direction of V = J+K passing
through P(0,1,0). Find the coordinates of rotated figure.
R450 , L
2
2
1
2
1
2
0
1
2
2 2
4
2 2
4
0
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1
2
2 2
4
2 2
4
0
2
2 2
4
2 2
4
1
A' B' C ' D'
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1
2
2 2
4
2 2
4
1
1 2
2
4 2
4
2 4
4
1
0
1
0
1
2 2
2
2
2
1
76
Any Question !

3D Transformation

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3D Transformation

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Chapter 8

Hidden Surface Removal

Lighting & Shading

Normalized view space

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A point P(x,y,z) specifies that point

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Any vector V = aI+bJ+cJ can be

Vector has two attributes:

length- a scalar denoted by |v|

Equality: Two vectors are equal if

Vector Addition: perform addition by the head-to-tail rule.

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Vector Subtraction: To perform subtraction, given u and v,

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Zero Vector: i.e. vector with zero length and no direction.

Unit vector for any vector u is a vector having direction of u

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the direction of u if > 0

if = 0, the vector is the zero vector or a point.

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Dot Product: Given two vectors u = a1I+b1J+c1K and v =

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Cross Product: Given two vectors u = a1I+b1J+c1K and v =

or |u x v| = |u| |v| sin , 0 where is the angle b/w u & v

sin = |u x v| /|u| |v|

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px mxx px mxy py mxz pz d x

Top three rows are the affine transform!

vx mxx vx mxy vy mxz vz 0

vz mzx vx mzy vy mzz vz 0

Top three rows are the linear transform

Bottom row stays 0

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Matrix has the form:

Transforms compose by matrix multiplication.

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Reflections about other planes can also be obtained by

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S sx,sy ,sz S1/ sx,1/ sy ,1/ sz

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S sx ,sy ,sz S sx ,sy ,sz S1/ sx ,1/ sy ,1/ sz

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M plane M plane M plane