CSE- 4105
Transformation
Transformations
• What is transformations?
– The geometrical changes of an object from a
current state to modified state.
• Why the transformations is needed?
– To manipulate the initially created object and to
display the modified object without having to
redraw it.
2D Geometric Transformation
Modeling
Coordinates
World Coordinates
2D Translation
x x t x , y y t y
y
P
x x t x
P , P , T
T
y y t y
P x P P T
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2D Scaling
Sx
Sy
x x s x , y y s y
x s x 0 x
y 0
sy y
8/7/2017 P S P 5
2D Rotation
• Rotate counter-clockwise about the origin by
an angle x cos sin x
y sin
cos y
y y
x x
P’ = R . P
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Transformations
• Transform every point on an object according
to certain rule. Q (x’, y’)
P (x,y) T
Initial Object
Transformed Object
x x’ The point Q is the image of P under the tra
y y’ nsformation T.
Whyonce
• In graphics, Transformations?
we have an object described,
transformations are used to move that object,
scale it and rotate it
Transformations
• 2 ways
– Object Transformation
• Alter the coordinates descriptions an object
• Translation, rotation, scaling etc.
• Coordinate system unchanged
– Coordinate transformation
• Produce a different coordinate system
Transformations
• Transformations modify an object’s shape and
location in one coordinate system
(2,3) x’=x-1
y y’=y-1 y (1,2)
x=x’+1
x y=y’+1 x
Translation
• A translation moves all points in an object along the same straight-line
path to new positions.
• The path is represented by a vector, called the translation or shift vector.
(8,6)
dy=4
(2, 2) dx= 6
Translation
•
• Represent in in matrix
dy=4
• dx= 6
(2, 2)
•
Translation
• Translation
y
P’(x’, y’)
dy P(x, y)
x
dx
Translations
(55,60)
(20,35)
(45,30)
(65,30)
(10,5) (30,5)
The vector (dx, dy) is called the offset vector.
Scaling
• Resizes an object in each dimension to altering the size of an object.
• Scaling changes the size of an object and involves two scale factors, Sx
and Sy for the x- and y- coordinates respectively.
• If Sx = Sy then uniform scaling then
x xS x P’
y yS y
P
Scaling
• Represent in in matrix
y
•
P1(x1, y1)
y1
•
y0
1y P0(x0, y0)
1
2
1y
2
0
x
1x 1x x1 x0
1 0
2 2
Scaling
• If the scale factors are in between 0
and 1
• The points will be moved closer to the
origin
• The object will be smaller.
• Example :
– P(2, 5), Sx = 0.5, Sy = 0.5
– Find P’ ?
Scaling
• If the scale factors are larger than 1
• the points will be moved away from P’
the origin
• the object will be larger.
• Example :
P(2, 5)
– P(2, 5), Sx = 2, Sy = 2
– Find P’ ? P’
•
Scaling
If the scale factors are larger than 1
• the points will be moved away from P’
the origin
• the object will be larger.
• Example :
– P(2, 5), Sx = 2, Sy = 2 P(2, 5)
– Find P’ ?
P’
• If the scale factors are the same,
Sx = Sy uniform scaling
• Only change in size
Scaling
• If Sx Sy ,differential P’
scaling.
• Change in size and shape
• Example : square
rectangle
P(1, 2)
– P(1, 3), Sx = 2, Sy = 5 , P’ ?
Rotation
• A rotation repositions all points
in an object along a circular path
in the plane centered at the
pivot point.
P’
• First, we’ll assume the pivot is at
the origin.
P
Rotation
• Rotate through an abgle about the origin
y
P’(x’, y’)
P(x, y)
•
• x
Rotation
• Derivation of the rotation equation
y
P’(x’, y’)
rsin(+)
P(x, y)
rsin
r
x
rcos(+) rcos
Rotation
• Rewriting in matrix form gives us :
•
Rotation
• Example
– Find the transformed point, P’, caused by
rotating P= (5, 1) about the origin through an
angle of 90.
cos sin x x cos y sin
sin
cos y x sin y cos
5 cos90 1 sin 90
5 sin 90 1 cos 90
5 0 1 1
5 1 1 0
1
5
Transformations.
• Translation.
P=T + P
• Scale
P=S P
• Rotation
P=R P
• We would like all transformations to be
multiplications
Basic Transformations
• Translation: Rotation:
1 0 t x cos sin 0
0 1 t sin
y cos 0
0 0 1 0 0 1
• Scaling: sx 0 0
0 sy 0
0 0 1
Homogenous Coordinates
• A point (x, y) can be re-written in homogeneous
coordinates as (xh, yh, h)
• The homogeneous parameter h is a non-
zero value such that:
• We can then write any point (x, y) as (hx, hy, h)
• We can conveniently choose h = 1 so that
(x, y) becomes (x, y, 1)
Homogenous Coordinates
• Mathematicians commonly use homogeneous
coordinates as they allow scaling factors to be
removed from equations
• We will see in a moment that all of the
transformations we discussed previously can be
represented as 3*3 matrices
• Using homogeneous coordinates allows us use matrix
multiplication to calculate transformations –
extremely efficient!
Translation
Scaling
Rotation
At a glance…
• Translation:
• Scaling
• Rotation
Inverse Transformations
• Transformations can easily be reversed using
inverse transformations
1 0 dx
1 1
T 0 1 dy s 0 0
0 0 1 x
1
S 1 0 0
cos sin 0 sy
0 0 1
R sin cos 0
1
0 0 1
Combining Transformations
• A number of transformations can be combined into
one matrix to make things easy
– Allowed by the fact that we use homogenous
coordinates
• Imagine rotating a polygon around a point other than
the origin
– Transform to centre point to origin
– Rotate around origin
– Transform back to centre point
Rotating About An Arbitrary Point
y y
x x
y y
x x
Combining Transformations (cont…)
• The three transformation matrices are
combined as follows
1 0 dx cos sin 0 1 0 dx x
0 1 dy sin cos 0 0 1 dy y
0 0 1 0 0 1 0 0 1 1
v' T (dx,dy) R( )T (dx, dy)v
REMEMBER: Matrix multiplication is not commutative s
o order matters
Summary
• 2D Transformations
• Translation
• Scaling
• Rotation
– Homogeneous coordinates
– Matrix multiplications
– Combining transformations
3D Translation
• Repositioning an object along a straight line path from one co-ordinate
location to another
(x,y,z) (x’,y’,z’)
• To translate a 3D position, we add translation distances tx ty and tz to the
original coordinates (x,y,z) to obtain the new coordinate position
(x’,y’,z’)
x’= x + tx , y’= y + ty , z’= z + tz
Matrix form (4 × 4) y
x 1 0 0 tx x
y 0 1 0 ty y
T(tx, ty, tz)
z 0 0 1 tz z
1 0 0 1 1 x
0
P T (t x , t y , t z ) P z
3D Rotation
• z-axis
– The 2D z-axis rotation equations are extended to 3D.
x x cos y sin
y x sin y cos y
z z
Matrix form
x
x cos sin 0 0 x z
y sin cos 0 0 y
z 0 0 1 0 z
1 0 1 1
0 0
P Rz ( ) P
3D Rotation
y
• x-axis y y cos z sin
z y sin z cos
x x
x
z
Matrix form
x 1 0 0 0 x
y 0 cos sin 0 y
z 0 sin cos 0 z
1 0 1 1
0 0
P Rx ( ) P
3D Rotation
y
• y-axis z z sin x cos
x z sin x cos
y y
x
z
Matrix form
x cos 0 sin 0 x
y 0 1 0 0 y
z sin 0 cos 0 z
1 0 1 1
0 0
P Ry ( ) P
3D Scaling
x xsx y
y ys y
z zsz
x
Matrix form z
x s x 0 0 0 x
y 0 sy 0 0 y
z 0 0 sz 0 z
1 0 0 0 1 1
P S ( s x , s y , s z ) P
Reference
• Chapter 5 of your textbook.
