Chapter 5

3D Transformations
3-D Transformation is the process of manipulating the view of a three-D object with respect to its
original position by modifying its physical attributes through various methods of transformation.
Properties of 3-D Transformation:
• Lines are preserved,
• Parallelism is preserved,
• Proportional distances are preserved.

Homogeneous Coordinates
A point in homogeneous coordinates is represented as a four-element column vector of three
coordinates and a scale factor w ¹¹¹ 0. For example:

P(wx, wy, wz, w) º P(x/w, y/w, z/w, 1) º (x, y, z)

One advantage of this approach is that translation, which normally must be expressed as an addition,
can be represented as a matrix multiplication. Another advantage is that homogeneous coordinate
representations simplify perspective transformations.

Types of Transformations:
1. Translation
2. Rotation
3. Scaling
4. Reflection
5. Shear

3D Translation
3D Translation is a process of moving an object from one position to another in a three-dimensional
plane.
• Initial coordinates of the object O = (Xold, Yold, Zold)

• New coordinates of the object O after translation = (Xnew, Ynew, Zold)

• Translation vector or Shift vector = (Tx, Ty, Tz)

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Given a Translation vector (Tx, Ty, Tz)-

• Tx defines the distance the Xold coordinate has to be moved.

• Ty defines the distance the Yold coordinate has to be moved.

• Tz defines the distance the Zold coordinate has to be moved.

This translation is achieved by adding the translation coordinates to the old coordinates of the object as-

• Xnew = Xold + Tx (This denotes translation towards X axis)

• Ynew = Yold + Ty (This denotes translation towards Y axis)

• Znew = Zold + Tz (This denotes translation towards Z axis)

In Matrix form, the above translation equations may be represented as-

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Example: Given a 3D object with coordinate points A(0, 3, 1), B(3, 3, 2), C(3, 0, 0), D(0, 0, 0). Apply
the translation with the distance 1 towards X axis, 1 towards Y axis and 2 towards Z axis and obtain the
new coordinates of the object.

Given-

• Old coordinates of the object = A (0, 3, 1), B(3, 3, 2), C(3, 0, 0), D(0, 0, 0)
• Translation vector = (Tx, Ty, Tz) = (1, 1, 2)

For Coordinates A(0, 3, 1)

Let the new coordinates of A = (Xnew, Ynew, Znew).

Applying the translation equations, we have-

• Xnew = Xold + Tx = 0 + 1 = 1

• Ynew = Yold + Ty = 3 + 1 = 4

• Znew = Zold + Tz = 1 + 2 = 3

Thus, New coordinates of A = (1, 4, 3).

For Coordinates B(3, 3, 2)

Let the new coordinates of B = (Xnew, Ynew, Znew).

Applying the translation equations, we have-

• Xnew = Xold + Tx = 3 + 1 = 4

• Ynew = Yold + Ty = 3 + 1 = 4

• Znew = Zold + Tz = 2 + 2 = 4

Thus, New coordinates of B = (4, 4, 4).

For Coordinates C(3, 0, 0)

Let the new coordinates of C = (Xnew, Ynew, Znew).

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Applying the translation equations, we have-

• Xnew = Xold + Tx = 3 + 1 = 4

• Ynew = Yold + Ty = 0 + 1 = 1

• Znew = Zold + Tz = 0 + 2 = 2

Thus, New coordinates of C = (4, 1, 2).

For Coordinates D(0, 0, 0)

Let the new coordinates of D = (Xnew, Ynew, Znew).

Applying the translation equations, we have-

• Xnew = Xold + Tx = 0 + 1 = 1

• Ynew = Yold + Ty = 0 + 1 = 1

• Znew = Zold + Tz = 0 + 2 = 2

Thus, New coordinates of D = (1, 1, 2).

Thus, New coordinates of the object = A (1, 4, 3), B(4, 4, 4), C(4, 1, 2), D(1, 1, 2).

3D Rotation
3D Rotation is a process of rotating an object with respect to an angle in a three dimensional plane.

Consider a point object O has to be rotated from one angle to another in a 3D plane.

Let-

• Initial coordinates of the object O = (Xold, Yold, Zold)

• Initial angle of the object O with respect to origin = Φ

• Rotation angle = θ
• New coordinates of the object O after rotation = (Xnew, Ynew, Znew)

In 3 dimensions, there are 3 possible types of rotation-

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 • X-axis Rotation
• Y-axis Rotation
• Z-axis Rotation

For X-Axis Rotation-

• Xnew = Xold

• Ynew = Yold x cosθ – Zold x sinθ

• Znew = Yold x sinθ + Zold x cosθ

In Matrix form, the above rotation equations may be represented as-

For Y-Axis Rotation-

This rotation is achieved by using the following rotation equations:

• Xnew = Zold x sinθ + Xold x cosθ

• Ynew = Yold

• Znew = Yold x cosθ – Xold x sinθ

In Matrix form, the above rotation equations may be represented as-

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For Z-Axis Rotation-

This rotation is achieved by using the following rotation equations-

• Xnew = Xold x cosθ – Yold x sinθ

• Ynew = Xold x sinθ + Yold x cosθ

• Znew = Zold

In Matrix form, the above rotation equations may be represented as-

Example: Given a homogeneous point (1, 2, 3). Apply rotation 90 degree towards X, Y and Z axis and
find out the new coordinate points.

Given-

• Old coordinates = (Xold, Yold, Zold) = (1, 2, 3)

• Rotation angle = θ = 90º

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For X-Axis Rotation-

Let the new coordinates after rotation = (Xnew, Ynew, Znew).

Applying the rotation equations, we have-

• Xnew = Xold = 1

• Ynew = Yold x cosθ – Zold x sinθ = 2 x cos90° – 3 x sin90° = 2 x 0 – 3 x 1 = -3

• Znew = Yold x sinθ + Zold x cosθ = 2 x sin90° + 3 x cos90° = 2 x 1 + 3 x 0 = 2

Thus, New coordinates after rotation = (1, -3, 2).

For Y-Axis Rotation-

Let the new coordinates after rotation = (Xnew, Ynew, Znew).

Applying the rotation equations, we have-

• Xnew = Zold x sinθ + Xold x cosθ = 3 x sin90° + 1 x cos90° = 3 x 1 + 1 x 0 = 3

• Ynew = Yold = 2

• Znew = Yold x cosθ – Xold x sinθ = 2 x cos90° – 1 x sin90° = 2 x 0 – 1 x 1 = -1

Thus, New coordinates after rotation = (3, 2, -1).

For Z-Axis Rotation-

Let the new coordinates after rotation = (Xnew, Ynew, Znew).

Applying the rotation equations, we have-

• Xnew = Xold x cosθ – Yold x sinθ = 1 x cos90° – 2 x sin90° = 1 x 0 – 2 x 1 = -2

• Ynew = Xold x sinθ + Yold x cosθ = 1 x sin90° + 2 x cos90° = 1 x 1 + 2 x 0 = 1

• Znew = Zold = 3

Thus, New coordinates after rotation = (-2, 1, 3).

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3D Scaling
In computer graphics, scaling is a process of modifying or altering the size of objects.

• Scaling may be used to increase or reduce the size of object.

• Scaling subjects the coordinate points of the original object to change.
• Scaling factor determines whether the object size is to be increased or reduced.
• If scaling factor > 1, then the object size is increased.
• If scaling factor < 1, then the object size is reduced.

Consider a point object O has to be scaled in a 3D plane.

Let-

• Initial coordinates of the object O = (Xold, Yold,Zold)

• Scaling factor for X-axis = Sx

• Scaling factor for Y-axis = Sy

• Scaling factor for Z-axis = Sz

• New coordinates of the object O after scaling = (Xnew, Ynew, Znew)

This scaling is achieved by using the following scaling equations-

• Xnew = Xold x Sx

• Ynew = Yold x Sy

• Znew = Zold x Sz

In Matrix form, the above scaling equations may be represented as-

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Example: Given a 3D object with coordinate points A(0, 3, 3), B(3, 3, 6), C(3, 0, 1), D(0, 0, 0). Apply
the scaling parameter 2 towards X axis, 3 towards Y axis and 3 towards Z axis and obtain the new
coordinates of the object.

Given-

• Old coordinates of the object = A (0, 3, 3), B(3, 3, 6), C(3, 0, 1), D(0, 0, 0)
• Scaling factor along X axis = 2
• Scaling factor along Y axis = 3
• Scaling factor along Z axis = 3

For Coordinates A(0, 3, 3)

Let the new coordinates of A after scaling = (Xnew, Ynew, Znew).

Applying the scaling equations, we have-

• Xnew = Xold x Sx = 0 x 2 = 0

• Ynew = Yold x Sy = 3 x 3 = 9

• Znew = Zold x Sz = 3 x 3 = 9

Thus, New coordinates of corner A after scaling = (0, 9, 9).

For Coordinates B(3, 3, 6)

Let the new coordinates of B after scaling = (Xnew, Ynew, Znew).

Applying the scaling equations, we have-

• Xnew = Xold x Sx = 3 x 2 = 6

• Ynew = Yold x Sy = 3 x 3 = 9

• Znew = Zold x Sz = 6 x 3 = 18

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Thus, New coordinates of corner B after scaling = (6, 9, 18).

For Coordinates C(3, 0, 1)

Let the new coordinates of C after scaling = (Xnew, Ynew, Znew).

Applying the scaling equations, we have-

• Xnew = Xold x Sx = 3 x 2 = 6

• Ynew = Yold x Sy = 0 x 3 = 0

• Znew = Zold x Sz = 1 x 3 = 3

Thus, New coordinates of corner C after scaling = (6, 0, 3).

For Coordinates D(0, 0, 0)

Let the new coordinates of D after scaling = (Xnew, Ynew, Znew).

Applying the scaling equations, we have-

• Xnew = Xold x Sx = 0 x 2 = 0

• Ynew = Yold x Sy = 0 x 3 = 0

• Znew = Zold x Sz = 0 x 3 = 0

Thus, New coordinates of corner D after scaling = (0, 0, 0).

3D Reflection
• Reflection is a kind of rotation where the angle of rotation is 180 degree.
• The reflected object is always formed on the other side of mirror.
• The size of reflected object is same as the size of original object.

Consider a point object O has to be reflected in a 3D plane.

Let-

• Initial coordinates of the object O = (Xold, Yold, Zold)

• New coordinates of the reflected object O after reflection = (Xnew, Ynew,Znew)

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In 3 dimensions, there are 3 possible types of reflection-

Reflection Relative to XY Plane:

This reflection is achieved by using the following reflection equations-

• Xnew = Xold

• Ynew = Yold

• Znew = -Zold

In Matrix form, the above reflection equations may be represented as-

Reflection Relative to YZ Plane:

This reflection is achieved by using the following reflection equations-

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 • Xnew = -Xold

• Ynew = Yold

• Znew = Zold

In Matrix form, the above reflection equations may be represented as-

Reflection Relative to XZ Plane:

This reflection is achieved by using the following reflection equations-

• Xnew = Xold

• Ynew = -Yold

• Znew = Zold

In Matrix form, the above reflection equations may be represented as-

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Example: Given a 3D triangle with coordinate points A(3, 4, 1), B(6, 4, 2), C(5, 6, 3). Apply the
reflection on the XY plane and find out the new coordinates of the object.

Given-

• Old corner coordinates of the triangle = A (3, 4, 1), B(6, 4, 2), C(5, 6, 3)
• Reflection has to be taken on the XY plane

For Coordinates A(3, 4, 1)

Let the new coordinates of corner A after reflection = (Xnew, Ynew, Znew).

Applying the reflection equations, we have-

• Xnew = Xold = 3

• Ynew = Yold = 4

• Znew = -Zold = -1

Thus, New coordinates of corner A after reflection = (3, 4, -1).

For Coordinates B(6, 4, 2)

Let the new coordinates of corner B after reflection = (Xnew, Ynew, Znew).

Applying the reflection equations, we have-

• Xnew = Xold = 6

• Ynew = Yold = 4

• Znew = -Zold = -2

Thus, New coordinates of corner B after reflection = (6, 4, -2).

For Coordinates C(5, 6, 3)

Let the new coordinates of corner C after reflection = (Xnew, Ynew, Znew).

Applying the reflection equations, we have-

• Xnew = Xold = 5

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 • Ynew = Yold = 6

• Znew = -Zold = -3

Thus, New coordinates of corner C after reflection = (5, 6, -3).

Thus, New coordinates of the triangle after reflection = A (3, 4, -1), B(6, 4, -2), C(5, 6, -3).

3D Shearing
3D Shearing is an ideal technique to change the shape of an existing object in a three dimensional
plane.In a three dimensional plane, the object size can be changed along X direction, Y direction as
well as Z direction.

So, there are three versions of shearing-

Consider a point object O has to be sheared in a 3D plane.

Let-

• Initial coordinates of the object O = (Xold, Yold, Zold)

• Shearing parameter towards X direction = Shx

• Shearing parameter towards Y direction = Shy

• Shearing parameter towards Z direction = Shz

• New coordinates of the object O after shearing = (Xnew, Ynew, Znew)

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Shearing in X Axis-

Shearing in X axis is achieved by using the following shearing equations-

• Xnew = Xold

• Ynew = Yold + Shy x Xold

• Znew = Zold + Shz x Xold

In Matrix form, the above shearing equations may be represented as-

Shearing in Y Axis-

Shearing in Y axis is achieved by using the following shearing equations-

• Xnew = Xold + Shx x Yold

• Ynew = Yold

• Znew = Zold + Shz x Yold

In Matrix form, the above shearing equations may be represented as-

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Shearing in Z Axis-

Shearing in Z axis is achieved by using the following shearing equations-

• Xnew = Xold + Shx x Zold

• Ynew = Yold + Shy x Zold

• Znew = Zold

In Matrix form, the above shearing equations may be represented as-

Example: Given a 3D triangle with points (0, 0, 0), (1, 1, 2) and (1, 1, 3). Apply shear parameter 2 on
X axis, 2 on Y axis and 3 on Z axis and find out the new coordinates of the object.

Solution-
Given-

• Old corner coordinates of the triangle = A (0, 0, 0), B(1, 1, 2), C(1, 1, 3)
• Shearing parameter towards X direction (Shx) = 2

• Shearing parameter towards Y direction (Shy) = 2

• Shearing parameter towards Y direction (Shz) = 3

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Shearing in X Axis-
For Coordinates A(0, 0, 0)

Let the new coordinates of corner A after shearing = (Xnew, Ynew, Znew).

Applying the shearing equations, we have-

• Xnew = Xold = 0

• Ynew = Yold + Shy x Xold = 0 + 2 x 0 = 0

• Znew = Zold + Shz x Xold = 0 + 3 x 0 = 0

Thus, New coordinates of corner A after shearing = (0, 0, 0).

For Coordinates B(1, 1, 2)

Let the new coordinates of corner B after shearing = (Xnew, Ynew, Znew).

Applying the shearing equations, we have-

• Xnew = Xold = 1

• Ynew = Yold + Shy x Xold = 1 + 2 x 1 = 3

• Znew = Zold + Shz x Xold = 2 + 3 x 1 = 5

Thus, New coordinates of corner B after shearing = (1, 3, 5).

For Coordinates C(1, 1, 3)

Let the new coordinates of corner C after shearing = (Xnew, Ynew, Znew).

Applying the shearing equations, we have-

• Xnew = Xold = 1

• Ynew = Yold + Shy x Xold = 1 + 2 x 1 = 3

• Znew = Zold + Shz x Xold = 3 + 3 x 1 = 6

Thus, New coordinates of corner C after shearing = (1, 3, 6).

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Thus, New coordinates of the triangle after shearing in X axis = A (0, 0, 0), B(1, 3, 5), C(1, 3, 6).

Shearing in Y Axis-
For Coordinates A(0, 0, 0)

Let the new coordinates of corner A after shearing = (Xnew, Ynew, Znew).

Applying the shearing equations, we have-

• Xnew = Xold + Shx x Yold = 0 + 2 x 0 = 0

• Ynew = Yold = 0

• Znew = Zold + Shz x Yold = 0 + 3 x 0 = 0

Thus, New coordinates of corner A after shearing = (0, 0, 0).

For Coordinates B(1, 1, 2)

Let the new coordinates of corner B after shearing = (Xnew, Ynew, Znew).

Applying the shearing equations, we have-

• Xnew = Xold + Shx x Yold = 1 + 2 x 1 = 3

• Ynew = Yold = 1

• Znew = Zold + Shz x Yold = 2 + 3 x 1 = 5

Thus, New coordinates of corner B after shearing = (3, 1, 5).

For Coordinates C(1, 1, 3)

Let the new coordinates of corner C after shearing = (Xnew, Ynew, Znew).

Applying the shearing equations, we have-

• Xnew = Xold + Shx x Yold = 1 + 2 x 1 = 3

• Ynew = Yold = 1

• Znew = Zold + Shz x Yold = 3 + 3 x 1 = 6

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Thus, New coordinates of corner C after shearing = (3, 1, 6).

Thus, New coordinates of the triangle after shearing in Y axis = A (0, 0, 0), B(3, 1, 5), C(3, 1, 6).

Shearing in Z Axis-
For Coordinates A(0, 0, 0)

Let the new coordinates of corner A after shearing = (Xnew, Ynew, Znew).

Applying the shearing equations, we have-

• Xnew = Xold + Shx x Zold = 0 + 2 x 0 = 0

• Ynew = Yold + Shy x Zold = 0 + 2 x 0 = 0

• Znew = Zold = 0

Thus, New coordinates of corner A after shearing = (0, 0, 0).

For Coordinates B(1, 1, 2)

Let the new coordinates of corner B after shearing = (Xnew, Ynew, Znew).

Applying the shearing equations, we have-

• Xnew = Xold + Shx x Zold = 1 + 2 x 2 = 5

• Ynew = Yold + Shy x Zold = 1 + 2 x 2 = 5

• Znew = Zold = 2

Thus, New coordinates of corner B after shearing = (5, 5, 2).

For Coordinates C(1, 1, 3)

Let the new coordinates of corner C after shearing = (Xnew, Ynew, Znew).

Applying the shearing equations, we have-

• Xnew = Xold + Shx x Zold = 1 + 2 x 3 = 7

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 • Ynew = Yold + Shy x Zold = 1 + 2 x 3 = 7

• Znew = Zold = 3

Thus, New coordinates of corner C after shearing = (7, 7, 3).

Thus, New coordinates of the triangle after shearing in Z axis = A (0, 0, 0), B(5, 5, 2), C(7, 7, 3).

OpenGL Transform Operations

In OpenGL translation, rotation, and scaling are performed using commands such as:

glTranslate{fd}(X,Y,Z) - glTranslatef(1.0, 2.5, 3.0)

glRotate{df}(Angle, X, Y, Z) - glRotatef(60.0, 0.0, 0.0, 1.0)
glScale{df}(X, Y, Z) - glScalef(1.0, 1.5, 2.0)

What these commands do in practice is to generate the corresponding transformation matrix for the
operation that was requested, multiply it by whatever matrix is currently on top of the currently active-
matrix stack, and replace the matrix on the top of the stack with the result. If you want to calculate and
save the result of a complex series of transformations, one approach is to push an identity matrix onto
the stack, perform each of the operations in turn, and then save a copy of the result from the top of the
stack into a global or static variable, (possibly popping it off the stack if it won't be needed there
immediately)

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