3D Geometric Transformations
(Dr. Swati Sachan)
Content
➢ Introduction
➢ 3D Translation
➢ 3D Rotation
➢ 3D Scaling
➢ 3D Reflection (Flip)
➢ 3D Shearing (Twist)
3-D Coordinate Spaces
■ Remember what we mean by a 3-D coordinate space
Right-Hand
Reference System
■ Like the 2-D situation, we can use homogeneous
coordinates for 3-D transformations, using a 4*4
matrix
𝑃 𝑥, 𝑦, 𝑧 = 𝑥 𝑦 𝑧 1
3D Object Transformations
scaling
translation
rotation
3D Translation
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
3D Rotations
• When we performed rotations in 2D, we only had the choice of
rotating about the z axis
• In case of 3D, we have more options as Roll, Yaw and Pitch (ie. About
X, Y and Z axes)
3D Rotations
■ The equations for the three kinds of rotations in 3-D
are as follows:
z’= z x’= x y’= y
x’= x·cosθ - y·sinθ y’= y·cosθ - z·sinθ z’= z·cosθ - x·sinθ
y’= x·sinθ + y·cosθ z’= y·sinθ + z·cosθ x’= z·sinθ + x·cosθ
3D Rotations
Rotation about x, y and z
Rotation about Y
Rotation about X
Rotation about Z
3D Rotation
• For Rotation about x axis, the x coordinate of the position vector do
not change. It occurs in planes perpendicular to x- axis.
• Likewise for rotation about y-axis and about z-axis.
• Consider a rectangular parallelopiped. The matrix of position vector X
is
We know,
• For rotation by θ= -900 about x-axis
3D Rotation
Notice that x component of [x] and [x *] are identical.
For rotation by Φ = 900 about y-axis
Notice that y component of [x] and [x *] are identical.
3D Rotation
3D rotations are non-commutative, ie. the order of multiplication affects the final result.
Now, consider a rotation about x-axis, followed by an equal rotation about y-axis and
prove that they are non-commutative.
3D Rotation
3D rotations are non-commutative, ie. the order of multiplication affects the final result.
Now, consider a rotation about x-axis, followed by an equal rotation about y-axis
Now, reverse the order of the operation.
3D Rotations
Example: A point P in 3D space is located at coordinates P(1,2,3). Rotate the
point P by 90° around the x-axis, followed by a 45° rotation around the y-axis.
Find the new coordinates of the point (P′). Consider homogeneous coordinates.
Solution:
Step 1: Rotation around the x-axis by 90°, find Rx
Step 2: Rotation around the y-axis by 45°, find Ry
P′=[P].[Rx].[Ry]
3D Rotation about an axis parallel to a Coordinate axis
3D Rotation about an axis parallel to a Coordinate axis…..
-First translate the body until the local axis is coincident with the coordinate
axis in the same direction
-then rotate about the specified axis
-translate the transformed body back to its original position
3D Rotation about an axis parallel to a Coordinate axis…..
3D Rotation about an axis parallel to a Coordinate axis…..
3D Multiple relative rotations
If multiple rotations in a local axis system parallel to the global axis
system are required, then-
3D Multiple relative rotations……
3D Scaling
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
Then the local 3D scaling transformation matrix is given by
𝑆𝑥 0 0 0
To achieve Uniform (Overall) scaling, Sx = Sy = Sz
0 𝑆𝑦 0 0
S=
0 0 𝑆𝑧 0
0 0 0 1
(x, y, z) (x’, y’, z’)
Scaled Position
3D Scaling
Overall scaling 3D Scaling- y
A scaling of an object with respect to a selected fixed position can be represented
with the following transformation sequence:
1. Translate the fixed point to the origin
2. Scale the object
3. Translate the fixed point back to its original position
3D Scaling
Example: A cuboid has vertices at 𝐴(1,1,1)𝐵(5,1,1), C(5,4,1), D(1,4,1),
E(1,1,3), F(5,1,3), G(5,4,3), H(1,4,3)
Perform non-uniform scaling on the cuboid with scaling factors of 2
along the x-axis, 0.5 along the y-axis, and 3 along the z-axis.
Determine the new coordinates of the cuboid's vertices after scaling.
3D Reflection
Example for symmetry
3D Reflection
3D Reflection through xy plane
Reflection relative to a given axis are equivalent to 180 degree rotations
3D Reflection
In 3D reflections occur through a plane.
Table: The reflection transformation (flip) about principal planes
3D Shearing (Twist)
• Modify object shapes
• Useful for perspective projection
• When an object is viewed from different directions and at different distances, the
appearance of the object will be different. Such a view is called perspective view.
• Perspective projections mimic what the human eyes see.
Six shear parameters are involved
namely along each of three
directions and perpendicular to each
of the other directions
3D Shearing (Twist)
Shear along X Shear along Y Shear along Z
3D Shearing (Twist)
3D Shearing (Twist)