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13 Combinetransforms

This document discusses composite transformations, which involve combining multiple transformation operations like rotation, translation, and scaling. It provides examples of applying multiple transformations using matrix multiplication. Key points: - Transformations are applied from right to left when expressed as matrix multiplication. - Matrix multiplication is associative, so operations can be grouped using parentheses. - The order of transformations matters - rotating then translating gives a different result than translating then rotating. - A view pipeline example shows transforming vertices, applying perspective projection, and viewport mapping to render an object on screen.

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42 views15 pages

13 Combinetransforms

This document discusses composite transformations, which involve combining multiple transformation operations like rotation, translation, and scaling. It provides examples of applying multiple transformations using matrix multiplication. Key points: - Transformations are applied from right to left when expressed as matrix multiplication. - Matrix multiplication is associative, so operations can be grouped using parentheses. - The order of transformations matters - rotating then translating gives a different result than translating then rotating. - A view pipeline example shows transforming vertices, applying perspective projection, and viewport mapping to render an object on screen.

Uploaded by

saravkiru
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Composite Transformations

Sources: * D. Brackeen. Game Programming in Java. * D. Hearn & M. P. Baker. Computer Graphics: C edition * D. Shreiner, M. Woo, J Neider, T. Davis. OpenGL Programming Guide: 5th Edition.

Composite Transformations

How to combine several operations? Ex: rotate, then translate. Or the reverse: translate, then rotate. Or two rotations: rotate this amount, then that amount Or even more complex: scale, then rotate, then translate

Example

Suppose we have a point or vector v We want to rotate, then translate Let R be rotation matrix, T be translation matrix. We would have: v = ...; vr = R * v; vtr = T * vr; Or, all in one step: vtr = T * (R * v) Or, more simply: vtr = T*R*v Notice operations are applied right to left as we read it R first Then T
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Example

Matrix multiplication is associative! Can move parentheses around however we want! So T * (R * v) is the same as (T*R) * v So what? Suppose we have lots of points to transform Instead of: for p in pointlist: p_ = T*R*p ...do something... We do: M = T*R for p in pointlist: p_ = M*p ...do something...

Examples

Scale an object NOT at origin... Translate to origin (so it doesn't "fly away") Scale Translate back Let S be scale matrix, T be translate matrix, T2 be reverse translation matrix p_ = T2STp Note: if we did it the other way: TST2v it wouldn't work! Matrix multiplication is NOT commutative!!! Again, when we read it, it's applied in RIGHT to LEFT order!
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Order of Transformations

Another way of looking at it: Suppose we have: p_ = T2STp Rewrite with parens (multiplication is associative): p_ = (T2(S(Tp))) Compute Tp : Translate to origin Then multiply result with S: Scale it Then multiply result with T : Move back to original 2 place

Composites

Makes a difference what order we use! Ex: Rotate, then translate v' = TRv

Composites

Ex: Translate, then rotate v' = RTv

Composite Transformations

Example: rotate object 45 degrees around the point (5,7) Translate object by -5,-7 Call this matrix T Rotate 45 degrees Call this matrix R Translate object +5,+7 Call this matrix T-1 Expressed as matrices: T-1RTv Do this for every point v that makes up the object.

Composite Transformations

Example: scale an object around point 4,5


Translate, scale, translate Matrix notation: T-1STv

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Row Vectors

What we've just seen assumes column vectors/points: vectors/points are treated as 4x1 matrices If we have row vectors (1x4 matrices), then we combine like this:

To rotate then translate with column vectors: v' = TRv To rotate then translate with row vectors: v' = vRT Notice the order is reversed And now the operations read left-to-right, like we might expect
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Perspective

What about our perspective transformation? If "virtual view screen" is located d units from origin and we're looking down Z axis: to project point p=(x,y,z) to point p'=(x',y',z'): we do: x' = x * d / -z y' = y * d / -z //negative since looking down Z axis z' = z (save the old z coord!) Matrix for this transformation:

1 0 0 1 0 0

0 0 0

0 0 1 d 0

1 0 0 d

[] ] [

x d x z y x y d 1 y = = z z d 1 q z z d 1

][ ]

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View Pipeline

Now we can write out our whole view pipeline:

Suppose M represents the combined transformations (any rotations, translations, scale) on the vertices of the object Suppose P represents the perspective matrix. PM = P*M transformed=[] for p in points: transformed.append( PM * p ) And now draw polygon using transformed[...]

Ignore z coordinates; just use x and y Note: will still need to do viewport transform (i.e., map -1...1 into range 0...w-1 and 0...h-1).
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Viewport Mapping

Viewport mapping can be done with a matrix too! Screen is w x h We map x=-1...1 to range 0...w-1 We map y=-1...1 to range 0...h-1, but need to flip x' = (x+1)/2 * (w-1) = (x+1) * (w-1)/2 = x(w-1)/2 + (w1)/2 y' = h-1 - (y+1)/2 * (h-1) = (h-1)/2 + y(1-h)/2

w1 2 0 0 0

0 1h 2 0 0

0 0 1 0

w 1 2 h1 2 0 1

[] ] [

x w 1 w 1 x 2 2 y y 1h h1 = z 2 2 1 z 1

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Final Operation

W=model-to-world coordinates P=perspective V=viewport mapping M = VPW for all points: p' = Mp draw

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