{ 2D P ROJECTIVE G EOMETRIC A LGEBRA }

2D PGA C HEAT S HEET S IGGRAPH 2019 C OURSE N OTES

BASICS G EOMETRY M OTORS

Basis & Metric: Points, Lines: Rotors & Translators:

R∗2,0,1
α
Euclidean point at (x, y) xe20 + ye01 + e12 Rotator α around point PE e 2 PE = cos α2 + sin α2 PE
d

Direction (ideal point) (x, y) xe20 + ye01 Translator d orthogonal to P∞ e 2 P∞ = 1 + d2 P∞

VECTOR BIVECTOR I= PSS
p
1 e0 e1 e2 e01 e20 e12 e012 Motor between lines `1 ,`2 ˆ`2 ˆ`1
Line with eq. ax + by + c = 0 ` = ae1 + be2 + ce0
+1 0 +1 +1 0 0 −1 0
Incidence: Logarithm of motor m [2
hmi
LINE : ` POINT : P
Compose & Apply:
Join points P1 , P2 in line ` ` = P1 ∨ P2
Multiplication Table: Compose motors m1 and m2 m2 m1
Meet lines `1 , `2 in point P P = `1 ∧ `2
m
1 e0 e1 e2 e01 e20 e12 e012 Normalize motor m m
b =
Project, Reject: kmk
e0 0 e01 -e20 0 0 e012 0
√
e1 -e01 1 e12 -e0 e012 e2 e20 Line orthogonal to line `, through point P `·P=`×P Square root of motor m m = (1 + m)
b
e2 e20 -e12 1 e012 e0 -e1 e01 Reflect element X in line ` `X`
Project point P on line ` (` · P)`
e01 0 e0 e012 0 0 -e20 0

e20 e012 -e0 e01 Transform X with motor m mXm̃

0 0 0 0 Project line ` on point P (` · P)P
e12 e012 -e2 e1 e20 -e01 −1 -e0
Direction orthogonal to line ` `⊥ := `I
e012 0 e20 e01 0 0 -e0 0 M ORE
Norms and numerical values:
Operators: √ Areas:
√
Euc. norm of ` = ce0 + ae1 + be2 : k`k := `2 (= a2 + b2 ) 1
Area of ∆P1 P2 P3 2 (P̂1 ∨ P̂2 ∨ P̂3 )
ab Geometric Product p √ n−1
a∗ Dual Euc. norm of P = xe20 + ye01 + ze12 : kPk := PP̃ (= z 2 ) P
Length of closed loop P1 P2 ...Pn kP̂i ∨ P̂i+1 k
⊥ i=1
a aI Polar p
Ideal norm of ideal P = xe20 + ye01 : kPk∞ := x2 + y2 1
n−1
P
ã Reverse Area of closed loop P1 P2 ...Pn 2 k( P̂i ∨ P̂i+1 )k∞
√ i=1
hain Select grade n Norm of motor m kmk := mm̃ Rigid Body Mechanics: (Valid in euclidean, elliptic & hyperbolic planes)
a∧b habis+t Outer Product meet
Numerical value of ideal ` = ce0 : k`k∞ := c Kinematics-points, dynamics-lines linear+angular unified
a∨b (a∗ ∧ b∗ )∗ Regressive Product join
a·b habi|s−t| Inner Product Numerical value of pseudoscalar aI kaIk∞ = a Element in the body/space frame xb /xs
1
a×b 2 (ab − ba) Commutator Product
Metric:
abã Sandwich Product Path of x under the motion g e , xb = g
xs = gxb g exs g
Distance between points P1 , P2 kP̂1 ∨ P̂2 k, kP̂1 × P̂2 k∞
Velocity Vb in the body Vb = g̃ġ (a bivector)
Dual, Reverse:
Angle of intersecting lines `1 , `2 cos−1 (ˆ `2 ), sin−1 (kˆ
`1 · ˆ `1 ∧ ˆ
`2 k) V2 V1
Inertia tensor A : ↔ maps vel. ↔ mom. in body
Multivector a + be0 + ce1 + de2 + ee01 + fe20 + ge12 + he012
Distance parallel lines `1 , `2 kˆ
`1 ∧ ˆ
`2 k∞
Dual h + ge0 + fe1 + ee2 + de01 + ce20 + be12 + ae012 Momentum line mb in the body mb = A(Vb )
Reverse a + be0 + ce1 + de2 − ee01 − fe20 − ge12 − he012 Oriented dist. eucl. P to line ` P̂ ∨ ˆ
`, kP̂ ∧ ˆ
`k∞ Kinetic energy E E = mb ∨ Vb
Sub-algebras: Angle betw. ideal P and line ` sin−1
kP̂ ∧ ˆ
`k∞ Euler Eq. of Motion 1: ġ = gVb
{1} R Real {1, e12 } C Complex Angle bisector of `1 and `2 (ˆ
`1 + ˆ
`2 ) or ˆ
`1 − ˆ
`2 Euler EoM 2: (fb = ext. forces) V̇b = 2A−1 (fb + (mb × Vb ))
{1, e0 } D Dual {1, e1 } D Hyperbolic
{1, e12 } rotors {1, e01 , e20 } translators Perp. bisector of P1 and P2 (P̂1 + P̂2 )(P̂1 ∨ P̂2 ) Time derivative of energy E Ė = −2fb ∨ Vb
{1, e01 , e20 , e12 } motors Rt Rt
Altitudes of ∆P1 P2 P3 (P1 ∨ P2 ) · P3 , etc. Work w(t) = E(t) − E(0) = 0
Ėds = −2 0 fb ∨ Vb ds