COMPUTER GRAPHICS

Lecture 2
Transformations

Lecture 2 1
 TRANSFORMATIONS.
What is a transformation?
 P=T(P)

What does it do?

Transform the coordinates / normal vectors of objects
Why use them?
 Modelling

-Moving the objects to the desired location in the environment

-Multiple instances of a prototype shape
-Kinematics of linkages/skeletons – character animation
• Viewing
– Virtual camera: parallel and perspective projections
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 TYPES OF TRANSFORMATIONS

– Geometric Transformations
• Translation
• Rotation
• scaling
• Linear (preserves parallel lines)
• Non-uniform scales, shears or skews
– Projection (preserves lines)
• Perspective projection
• Parallel projection
– Non-linear (lines become curves)
• Twists, bends, warps, morphs,

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GEOMETRIC TRANSFORMATION
– Once the models are prepared, we need to place them in
the environment
– Objects are defined in their own local coordinate
system
– We need to translate, rotate and scale them to put them
into the world coordinate system

15/04/16 Lecture 1
2D TRANSLATIONS.
Point P defined as P ( x, y ),
translate to Point P( x, y) a distance d x parallel to x axis, d y parallel to y axis.
x  x  d x y   y  d y
Define the column vectors
 x  x  d x 
P    , P    , T   
 y  y  dy  P’
Now P

P  P  T

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2D SCALING FROM THE ORIGIN.
Point P defined as P ( x, y ),
Perform a scale (stretch) to Point P( x, y) by a factor s x along the x axis,
and s y along the y axis.
x  s x . x, y  s y . y
Define the matrix P’
P
sx 0
S
0 s y 
Now
 x   s x 0  x 
P  S  P or  y   0 . 
   s y   y
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2D ROTATION ABOUT THE ORIGIN.


P’(x’,y’)

P(x,y)
r

r
x
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2D ROTATION ABOUT THE ORIGIN.
y

P’(x’,y’)

r
P(x,y) x  r. cos 
y  r. sin 
 y
r

x
x 8
2D ROTATION ABOUT THE ORIGIN.
x  r. cos(   )  r. cos  . cos  r. sin  . sin 
y y  r. sin(   )  r. cos  . sin   r. sin  . cos

P’(x’,y’)

P(x,y)
r x  r. cos 
y  r. sin 
 y
r

x
x 9
2D ROTATION ABOUT THE ORIGIN.
x  r. cos(   )  r. cos  . cos  r. sin  . sin 
y  r. sin(   )  r. cos  . sin   r. sin  . cos
Substituting for r :

x  r. cos 
y  r. sin 
Gives us :

x  x. cos  y. sin 
y  x. sin   y. cos
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2D ROTATION ABOUT THE ORIGIN.

x  x. cos  y. sin 
y  x. sin   y. cos
Rewriting in matrix form gives us :

 x  cos  sin    x 
 y   sin  . 
cos   y 
  

cos  sin  
Define the matrix R    , P  R  P
 sin  cos  11
TRANSFORMATIONS.
 Translation.
 P=T +P
 Scale
 P=S P
 Rotation  x cos  sin    x 
 y   sin  cos . y 
 P=R P     
 We would like all transformations to be multiplications so
we can concatenate them
  express points in homogenous coordinates.

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CONCATENATION.

 When we perform 2 translations on the same point

P  T (d x1 , d y1 )  P
P  T (d x 2 , d y 2 )  P
P  T (d x1 , d y1 )  T (d x 2 , d y 2 )  P  T (d x1  d x 2 , d y1  d y 2 )  P

So we expect :
T (d x1 , d y1 )  T (d x 2 , d y 2 )  T (d x1  d x 2 , d y1  d y 2 )
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CONCATENATION.

The matrix product T (d x1 , d y1 )  T (d x 2 , d y 2 ) is :

1 0 d x1  1 0 d x 2 
0 1 d .0 1 d   ?
 y1   y2 

0 0 1  0 0 1 
Matrix product is variously referred to as compounding,
concatenation, or composition
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CONCATENATION.

The matrix product T (d x1 , d y1 )  T (d x 2 , d y 2 ) is :

1 0 d x1  1 0 d x 2  1 0 d x1  d x 2 
0 1 d .0 1 d   0 1 d  d 
 y1   y2   y1 y2 

0 0 1  0 0 1  0 0 1 

Matrix product is variously referred to as compounding, concatenation, or

composition.
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 PROPERTIES OF TRANSLATIONS.

1. T (0,0)  I
2. T ( s x , s y )  T (t x , t y )  T ( s x  t x , s y  t y )
3. T ( s x , s y )  T (t x , t y )  T (t x , t y )  T ( s x , s y )
4. T -1 ( s x , s y )  T ( s x , s y )

Note : 3. translation matrices are commutative.

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CONCATENATION OF SCALES.

The matrix product S ( s x1 , s y1 )  S ( s x 2 , s y 2 ) is :

s x1 0 0  s x2 0 0  s x1  s x2 0 0
0 s 0  . 0 s 0    0 s  s 0 
 y1  y2   y1 y2 
 0 0 1   0 0 1   0 0 1
Only diagonal elements in the matrix - easy to multiply !

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PROPERTIES OF ROTATION.
R ( 0)  I
R ( )  R ( )  R (   )

and
R ( )  R ( )  R ( )  R ( )
But this is only because the axis of rotation
is the same
For 3D rotations, need to be more careful
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