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3D Transformations in Computer Graphics

Chapter 5 discusses 3D transformations, which are essential for object manipulation in 3D space, including translation, rotation, and scaling. It covers coordinate systems, specifically right-handed and left-handed systems, and introduces homogeneous coordinates for representing 3D points. The chapter also explains how to compose transformations to rotate objects around arbitrary axes using a series of translation and rotation steps.

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10 views10 pages

3D Transformations in Computer Graphics

Chapter 5 discusses 3D transformations, which are essential for object manipulation in 3D space, including translation, rotation, and scaling. It covers coordinate systems, specifically right-handed and left-handed systems, and introduces homogeneous coordinates for representing 3D points. The chapter also explains how to compose transformations to rotate objects around arbitrary axes using a series of translation and rotation steps.

Uploaded by

tmpandian5229
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd

Chapter

Chapter 5 5

Chapter 5. 3D Transformations
5.1 Introductions
5.2 Coordinate systems. Homogenous coordinates
5.3 3D transformation matrices
5.4 Composing transformations

Computer Graphics Chapter 5. 3D Transformations 1


5.1 Introduction

• 3D transformations are common in:

– Object manipulation in 3D space


• Translation, rotating and scaling

– A help when visualizing objects

Computer Graphics Chapter 5. 3D Transformations 2


5.2 Coordinate systems. Homogenous coordinates

– Coordinate systems can be


• Right-handed (the one we are going to use in the transformations)
• Left-handed

Z axis points outside the paper Z axis points inside the paper

left-handed

right-handed

Computer Graphics Chapter 5. 3D Transformations 3


5.2 Coordinate systems. Homogenous coordinates

• As it was done in 2D, homogenous coordinates are used


– A 3D point (x, y, z) is represented by (x, y, z, w) and as column vector
– Transformation matrices will be, therefore, 4x4
– Matrices will pre-multiply the input points

Computer Graphics Chapter 5. 3D Transformations 4


5.3 3D transformation matrices
• Translation • Rotation
– X axis

• Scaling – Y axis

– Z axis

Computer Graphics Chapter 5. 3D Transformations 5


5.3 3D transformation matrices

Example:

Y
0010
Ry(Π/2) = 0100
-1 0 0 0
0001

(1,0,0)

0 1
X
0 0
Π/2 Ry(Π/2) =
1 0
Z 1 1

Computer Graphics Chapter 5. 3D Transformations 6


5.4 Composing transformations
• In order to rotate around an arbitrary axis, the following steps have to be carried out:
– A translation to force the axis to pass through origin
– Rotate the axis in order to match it with one of the main coordinate axes
– Carry out the desired rotation around the main coordinate axis
– Apply the reverse rotations in order to leave the axis to its original orientation
– Apply reverse translation in order to leave the axis to its original position

Y Y Y Y

Eje de rotación

X X X X

Z Z Z
Z

Computer Graphics Chapter 5. 3D Transformations 7


5.4 Composing transformations

Example
Y Y

P3

P3
P2

P1
P1

P2
Z Z
INITIAL POSITION X FINAL POSITION X

Steps:
1. Translate P1 to origin
2. Rotate around Y, so P1P2 is over the plane (Y,Z)
3. Rotate around X, so P1P2 matches Z axis
4. Rotate over Z, so P1P3 is over the plane (Y,Z)

Computer Graphics Chapter 5. 3D Transformations 8


5.4 Composing transformations

• Translating P1 (x1,y1,z1) to origin Y

1 0 0 -x1
P3’
0 1 0 -y1
T= 0 0 1 -z1
0 0 0 1
P2’ (x2’,y2’,z2’)
P1’

θ
D1
Z
X
(x2’,0,z2’)

• Rotate around Y an angle of -(90 - θ)


cos(θ - 90) = senθ = z2’/D1 = (z2 - z1)/D1
sen(θ - 90) = -cosθ = -x2’/D1 = -(x2 - x1)/D1
where
D1 = (z2’)2 + (x2’)2 = (z2 - z1)2 + (x2 - x1)2

Computer Graphics Chapter 5. 3D Transformations 9


5.4 Composing transformations
• Rotating around X Y

y2’’
P2’’
D2

φ P1’’

Z z2’’
X
Y
• Rotating around Z

y3’’’
P3’’’ α

D3

P1’’’ x3’’’

Z P2’’’
X

Computer Graphics Chapter 5. 3D Transformations 10

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