Chapter 6
Three-Dimensional Transformations
Dr. S.M. Mohidul Islam
Associate Professor
CSE Discipline, KU
Chapter 6 Contents
Introduction
6.1 Geometric Transformations
6.2 Coordinate Transformations
6.3 Composite Transformations
6.4 Instance Transformations
Solved & Supplementary Problems
Introduction
Manipulation, viewing, and construction of three-dimensional graphic
images requires the use of three-dimensional geometric and coordinate
transformations.
These transformations are formed by composing the basic transformations of
translation, scaling, and rotation.
Each of these transformations can be represented as a matrix transformation.
This permits more complex transformations to be built up by use of matrix
multiplication or concatenation.
As with two-dimensional transformations, two complementary points of
view are adopted: either the object is manipulated directly through the
use of geometric transformations, or the object remains stationary and the
viewer's coordinate system is changed by using coordinate
transformations.
In addition, the construction of complex objects and scenes is facilitated
by the use of instance transformations. .
6.1 Geometric Transformations
With respect to some three-dimensional coordinate system, an object Obj is
considered as a set of points: obj = {P(x,y,z)}
If the object is moved to a new position, we can regard it as a new object Obj', all of
whose coordinate points P'(x',y',z') can be obtained from the original coordinate
points P(x,y,z) of Obj through the application of a geometric transformation.
Translation
An object is displaced a given distance and direction from its original position.
The direction and displacement of the translation is prescribed by a vector. v =
aI + bJ +ck
The new coordinates of a translated point can be calculated by using the
transformation where
The required homogeneous matrix transformation can be expressed as P' = Tv(P)
Inverse Geometric Transformation
P' = T-v(P) where x' = x – a, y' = y – b, and z' = z – c
Scaling
The process of scaling changes the dimensions of an object. The scale
factor s determines whether the scaling is a magnification, s > 1, or a
reduction, s < 1.
Scaling with respect to the origin, where the origin remains fixed, is
effected by the transformation
In matrix form this is
Inverse Geometric Transformation
P' = S1/sx,1/sy, 1/sz (P) where x' = (1/sx)x, y' = (1/sy)y, and z' = (1/sz)z
Rotation
Rotation in three dimensions is considerably more complex than rotation in two dimensions.
In two dimensions, a rotation is prescribed by an angle of rotation 𝜃 and a center of rotation P.
Three-dimensional rotations require the prescription of an angle of rotation and an axis of rotation.
The canonical rotations are defined when one of the positive x, y, or z coordinate axes is chosen as the axis of
rotation.
Then the construction of the rotation transformation proceeds just like that of a rotation in two dimensions
about the origin
Rotation about the z Axis:
Rotation about the y Axis:
Rotation about the x Axis:
Note that the direction of a positive angle of rotation is chosen in accordance to the right-hand rule with
respect to the axis of rotation (App. 2).The corresponding matrix transformations are given above
Inverse Geometric Transformation for Rotation about the z axis
P' = R-𝜃 (P) where x' = x cos(𝜃) + y sin(𝜃), y' = - x sin(𝜃) + y cos(𝜃), and z' = z.
Mirror Reflection
If either the x or y or z axis is treated as a mirror, the object has a mirror image or
reflection.
Since the reflection P' of an object point P is located the same distance from the
mirror as P,
mirror reflection transformation Mx about the x axis is
P' = Mx(P) where x' = x, y' = -y, and z' = -z.
Similarly, the mirror reflection about the y axis is
P' = My(P) where x' = -x, y' = y, and z' = -z.
Similarly, the mirror reflection about the z axis is
P' = Mz(P) where x' = -x, y' = -y, and z' = z.
Inverse Geometric Transformation
M x−1 = M x M y−1 = M y M z−1 = M z
❑ Mx = S1,-1,-1, My = S-1,1,-1, and Mz = S-1,-1,1 So, the three reflection transformations are
simply special cases of scaling.
Solved Problems (Geometric Transformations)
6.2 Coordinate Transformations
We can also achieve the effects of translation, scaling, and rotation by moving the
observer who views the object and by keeping the object stationary. This type of
transformation is called a coordinate transformation..
The relationships between the matrix forms of the coordinate transformations and the
geometeric transformations:
Translation
If the displacement is given by the vector v = aI + bJ +ck, the new object point P'(x', y‘,
z/) can be found by applying the transformation Tv to P(x, y, z) .
P' = Tv(P) where x' = x – a, y' = y – b, and z' = z – c
Inverse Coordinate Transformation
P' = T-v(P) where x' = x + a, y' = y + b, and z' = z + c
Scaling
P' = Ssx,sy, sz (P) where x' = (1/sx)x, y' = (1/sy)y, and z' = (1/sz)z
Inverse Coordinate Transformation
P' = S1/sx, 1/sy, 1/sz(P) where x' = sxx, y' = syy, and z' = szz
Rotation
about the z-axis
P' = R𝜃 (P) where x' = x cos(𝜃) + y sin(𝜃), y' = -x sin(𝜃) + y cos(𝜃 ), and z' = z
about the y-axis
P' = R𝜃 (P) where x' = x cos(𝜃) - z sin(𝜃), y' = y, and z' = x sin(𝜃) + z cos(𝜃)
about the x-axis
P' = R𝜃 (P) where x' = x, y' = y cos(𝜃) + z sin(𝜃, and z' = -y sin(𝜃) + z cos(𝜃)
Inverse Coordinate Transformation about the z-axis
P' = R-𝜃 (P) where x' = x cos(𝜃 ) - y sin(𝜃 ), y' = x sin(𝜃 ) + y cos(𝜃 ), and z' = z
Mirror Reflection
If the new coordinate system is obtained by reflecting the old system
about either x or y or z axis, the relationship between coordinates is given
by the coordinate transformations Mx,, My, and Mz.
mirror reflection transformation about the x axis is
P' = Mx(P) where x' = x, y' = -y, and z' = -z.
Similarly, the mirror reflection about the y axis is
P' = My(P) where x' = -x, y' = y, and z' = -z.
Similarly, the mirror reflection about the z axis is
P' = Mz(P) where x' = -x, y' = -y, and z' = z.
Inverse Coordinate Transformation
M x−1 = M x M y−1 = M y M z−1 = M z
❑ Mx = S1,-1,-1, My = S-1,1,-1, and Mz = S-1,-1,1 So, the three reflection
transformations are simply special cases of scaling.
6.3 Composite Transformations
More complex geometric and coordinate transformations are formed through the
process of composition of functions. For matrix functions, however, the process of
composition is equivalent to matrix multiplication or concatenation.
In Probs. 6.2, 6.3, 6.5, and 6.13, the following transformations are constructed:
In order to build these more complex transformations through matrix concatenation, we
must be able to multiply translation matrices with rotation and scaling matrices. This
necessitates the use of homogeneous coordinates and 4 x 4 matrices
Problems
Solved Problems: 6.1-6.8
Supplementary Problems: 6.9-6.13
Chapter 6 End