Unit 4

3D Geometric
Transformation

Asistant Professor Loknath Regmi

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What is 3-Dimension?
• Three-dimensional space is a geometric 3-parameters model
of the physical universe (without considering time) in which all
known matter exists. These three dimensions can be labeled
by a combination of length, breadth, and depth. Any three
directions can be chosen, provided that they do not all lie in

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the same plane.

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What is 3 Dimensional Object?
• An object that has height, width and depth, like any object in
the real world is a 3 dimensional object.
• Types of objects: Geometrical shapes, trees, terrains, clouds,
rocks, glass, hair, furniture, human body, etc.

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Asistant Professor Loknath Regmi
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3D Transformations
• Just as 2D-transfromtion can be represented by 3x3 matrices
using homogeneous co-ordinate can be represented by 4x4
matrices, provided we use homogenous co-ordinate
representation of points in 3D space as well.
1. Translation

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2. Rotation
3. Scaling
4. Reflection
5. Shear

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[Link]
• Translation in 3D is similar to translation in the 2D except that
there is one more direction parallel to the z-axis. If, tx, ty, and tz
are used to represent the translation vectors. Then the translation
of the position P(x, y, z) into the point P' (x', y', z') is done by
• x' = x + tx
• y' = y + ty
• z' = z + tz

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• In matrix notation using homogeneous coordinate this is
performed by the matrix multiplication,
[Link]
i) Rotation About z-axis:

Z-component does not change.

X' = X cosθ – Y sinθ

Y' = X sinθ + Y cosθ

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Z' = Z

Matrix representation for rotation around z-axis,

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[Link]
ii) Rotation About x-axis:

X-component does not change.

Y' = Y cosθ - Z sinθ

Z' = Y sinθ + Z cosθ
X

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X' = X

Matrix representation for rotation around X-axis,

Z Y
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[Link]
iii) Rotation About Y-axis:

Y-component does not change.

Z' = Z cosθ – X sinθ

X' = Z sinθ + X cosθ

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Y' = Y

Matrix representation for rotation around Y-axis,

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[Link]
• General 3D Rotations:
(a) Rotation about an axis parallel to any of the co-axis: When an object is
to be rotated about an axis that is parallel to one of the co-ordinate axis, we
need to perform series of transformation.
i. Translate the object so that the rotation axis coincides with the
parallel co-ordinate axis.
ii. Perform the specified rotation about the axis.
iii. Translate the object so that the rotation axis is moved to its

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original position.

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a) Rotation about an axis parallel to any of the co-axis:

Step 1
• Translate the object so that the rotation axis coincides with
the parallel co-ordinate axis.

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a) Rotation about an axis parallel to any of the co-axis:

Step 2
• Perform the specified rotation about the axis.

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a) Rotation about an axis parallel to any of the co-axis:

Step 3
• Translate the object so that the rotation axis is moved to its
original position.

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a) Rotation about an axis parallel to any of the co-axis:

Step 1:Translate

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Step 2:Rotation Step 3:Translate to original place

[Link]
• General 3D Rotations:
(b) Rotation about an axis not parallel to any of the co-axis:

i. Translate the object such that rotation axis passes through co-
ordinate origin.
ii. Rotate the axis such that axis of rotation coincides with one of
the co-ordinate axis.
iii. Perform the specific rotation about the ordinate axis.

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iv. Apply inverse rotation to bring the rotation axis back to its
original orientation.
v. Apply inverse translation to bring the rotation axis back to its
original position.

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(b) Rotation about an axis not parallel to any of the co-axis:

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(b) Rotation about an axis not parallel to any of the co-axis:

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(b) Rotation about an axis not parallel to any of the co-axis:

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(b) Rotation about an axis not parallel to any of the co-axis:

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(b) Rotation about an axis not parallel to any of the co-axis:

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(b) Rotation about an axis not parallel to any of the co-axis:

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3. Scaling
Scaling about origin
X’ = X . Sx
Y’ = Y . Sy
Z’ = Z . Sz

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3. Scaling
• Scaling about an arbitrary point or Fixed point (xf, yf, zf)

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3. Scaling
• Scaling about an arbitrary point or Fixed point (xf, yf, zf)

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3. Scaling
• Scaling about an arbitrary point or Fixed point (xf, yf, zf)

Step 1

• Translate the fixed point to the origin

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3. Scaling
• Scaling about an arbitrary point or Fixed point (xf, yf, zf)

Step 2

• Scale the object relative to the coordinate origin.

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3. Scaling
• Scaling about an arbitrary point or Fixed point (xf, yf, zf)

Step 3

• Translate the fixed point back to its

original position.

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C.M.
3. Scaling

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[Link]
i) Reflection about yz plane

X’ = -X
Y’ = Y
Z’ = Z

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 Y
[Link]
ii) Reflection about XY plane Z’
X’ = X
Y’ = Y
Z’ = -Z

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Z X

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 Y
[Link]
iii) Reflection about XZ plane

X’ = X
Y’ = -Y
Z’ = Z

Z X

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 [Link]
• Reflection of an object about a line that is parallel to one of the major
coordinate axes

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X
Z [Link] to axis [Link] [Link] to
Y Y Y original position

X X X 31

Z Z Z
[Link]
Shearing transformations can be used to modify object shapes.
Z-axis Shear
• This transformation alters x- and y-coordinate values by an
amount that is proportional to the z value, while leaving the z
coordinate unchanged, i.e,

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x' = x + Shx .z
y '= y + Shy .z
z' = z

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Similarly, we can find X-axis shear and Y-axis shear.

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 Projection

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What is Projection ?
• Transformation that changes a point in n-dimensional
coordinate system into a point in a coordinate system that has
dimension less than n.
• Converts 3-D viewing co-ordinates to 2-D projection co-
ordinates

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• View Plane or Projection Plane: Two dimensional plane in
which 3D objects are projected is called the view plane or
projection plane. Simply it is a display plane on an output
device

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Types of Projection
1. Parallel Projection

a) Orthographic parallel projection

b) Oblique parallel projection

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Asistant Professor Loknath Regmi
2. Perspective Projection

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1 . Parallel Projection
• Coordinate positions are transformed to view plane along
parallel lines (projection lines)
• Preserves relative proportions of objects
• Accurate views of various sides of an object are obtained.

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• Doesn’t give realistic representation of the appearance of the
3-D object
• Types
• Orthographic- when the projection is perpendicular to the view
plane. Used to produce Front, Side and Top view of an object
• Oblique – when the projection is not perpendicular to the view
plane
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 1 . Parallel Projection..

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 1 . Parallel Projection..

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 1 . Parallel Projection..

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1.1. Orthographic Parallel Projection

• When projection is perpendicular to view plane then it is

called orthographic parallel projection

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 1.1. Orthographic Parallel Projection…

Xp=X
Yp=Y

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Note: Z value is preserved for the depth information needed in depth
culling and visible surface determination procedur
1.2. Oblique Parallel Projection

• Projectors (projection vectors) are not perpendicular to the

projection plane. It preserves 3D nature of an object.

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 1.2. Oblique Parallel Projection…
• Not perpendicular view. (x,y,z) is projected
To position (Xp,Yp) on the view plane.
Y
(Xp,Yp)
Cos θ = Xp / L α(
Xp = L Cos θ (x,y,z)
But exact position is L
Xp = X + L Cos θ
Z θ X

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Asistant Professor Loknath Regmi
similarly (X,Y)
Sin θ = Yp / L
Yp= Y + L Sin θ

L depend on angle α
Tan α = Z / L
L= Z L1 Where L1 is inverse of tan α
Z
Xp = X +Z L1 Cos θ
Yp= Y + Z L1 Sin θ 44

When α = 0 , i.e. L1= 0 , it is orthographic projection

2. Perspective Projection
• Coordinate positions are transformed to view plane along
lines (projection lines) that converges to a point called
projection reference point (center of projection)
• Produce realistic view
• Does not preserve relative proportions

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• Equal sized object appears in different size according as
distance from view plane

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 2. Perspective Projection

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 2. Perspective Projection

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 Perspective View

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 Perspective View

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 Perspective View

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 Y
P(X,Y,Z)

P’(X’,Y’,Z’)

Y
Y’

B(0,Y,Z) O(0,0,0) -Z
Z
Z

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X’ C(0,0,-D)
X
A’(X’,0,0)
A(X,0,Z)
X

Here center of Projection is c (0,0,-D) along the direction of Z axis so the reference
point is taken of world coordinate space Wc and the normal vector N is aligned with
the y axis. 51
So now the view plane vp is the xy plane and center of projection is c (0,0,-D) now
from similar triangles ABC and A’OC
 D

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Triangles ABC and A’OC Triangles APC and A’P’C
(x/x’) = AC/A’C = (Z+D)/D (y/y’) = (AC/AC’) = (Z+D)/D
X’ = (XD)/(Z+D) y’ = (DY)/(Z+D)
And Z’=0 And Z’ =0

now in homogenous coordinates

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3D-Viewing Pipeline
• The viewing-pipeline in 3 dimensions is almost the same as the 2D-
viewing-pipeline. Only after the definition of the viewing direction
and orientation (i.e., of the camera) an additional projection step is
done, which is the reduction of 3D-data onto a projection plane:

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 Asistant Professor Loknath Regmi
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 Finished
Chapter 4

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