3D Geometric

Transformation

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Contents

■ Translation
■ Scaling
■ Rotation
■ Other Transformations
■ Coordinate Transformations

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 Basic Transformations of the Space
■ Convention:
■ The 3D coordinate system used is right-handed:
■ Positive rotation def.:
□ when looking from a positive axis toward the origin,
□ a 90o counterclockwise rotation
□ will transform one positive axis into the other.
z Z
If axis rotation is Direction of positive
rotation
X Y to z
y Y
Y Z to x

x z X X to y
right-handed coordinate system Left-handed coordinate system
Homogeneous coordinates in 3D

■ In order to model all transformations as matrices:

■ introduce a fourth coordinate, w
■ two vectors are equal if:
□ x/w = x’/w’, y/w = y’/w’ and z/w=z’/w’

■ All transformations are 4x4 matrices

Transformation in 3D

■ Transformation Matrix

3×3 : Scaling, Reflection, Shearing,

Rotation
3×1 :
Translation
1×1 : Uniform global
Scaling
1×3 : Homogeneous
representation
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3D Translation

■ Translation of a Point

x
z

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3D Scaling

■ Uniform Scaling

x
z

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Relative Scaling

■ Scaling with a Selected Fixed Position

y y y y

z x z x z x z x

Original position Translate Scaling Inverse Translate

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3D Rotation

■ Coordinate-Axes Rotations
■ X-axis rotation
■ Y-axis rotation
■ Z-axis rotation

■ General 3D Rotations
■ Rotation about an axis that is parallel to one of the coordinate axes
■ Rotation about an arbitrary axis

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Coordinate-Axes Rotations

■ Z-Axis Rotation ■ X-Axis Rotation ■ Y-Axis Rotation

y y y

x x x
z z z

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Order of Rotations

■ Order of Rotation Affects Final Position

■ X-axis Z-axis

■ Z-axis X-axis

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General 3D Rotations

■ Rotation about an Axis that is Parallel to One of the Coordinate

Axes
■ Translate the object so that the rotation axis coincides with the parallel
coordinate axis
■ Perform the specified rotation about that axis
■ Translate the object so that the rotation axis is moved back to its original
position

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General 3D Rotations

■ Rotation about an Arbitrary Axis

y Basic Idea
T 1. Translate (x1, y1, z1) to the origin
(x2,y2,z2) 2. Rotate (x’2, y2, z2) on to the z axis
R 3. Rotate the object around the z-axis
4. Rotate the axis to the original
(x1,y1,z1)
orientation
x R-1 5. Translate the rotation axis to the
original position
z -1
T

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General 3D Rotations

■ Step 1. Translation
y

(x2,y2,z2)

(x1,y1,z1)

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General 3D Rotations

■ Step 2. Establish [ TR ]αx x axis

y

(0,b,c)
(a,b,c)

Projected
Point α α
x

z
Rotated
Point

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Arbitrary Axis Rotation

■ Step 3. Rotate about y axis by β

y

(a,b,c)

Projected l
Point
d
β x
(a,0,d)
Rotated
z Point

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Arbitrary Axis Rotation

■ Step 4. Rotate about z axis by the desired angle θ

y

l
x
θ

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Arbitrary Axis Rotation

■ Step 5. Apply the reverse transformation to place the axis back in

its initial position
y

l
x

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Example

Find the new coordinates of a unit cube 90º-rotated

about an axis defined by its endpoints A(2,1,0) and
B(3,3,1).

A Unit Cube

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Example

■ Step1. Translate point A to the origin

B’(1,2,1)

A’(0,0,0)
x
z

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Example

■ Step 2. Rotate axis A’B’ about the x axis by and angle α, until it
lies on the xz plane.

y
Projected point
(0,2,1) B’(1,2,1)

α l
x
z
B”(1,0,√5)

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Example

■ Step 3. Rotate axis A’B’’ about the y axis by and angle β, until it
coincides with the z axis.

l x
β
(0,0,√6)
B”(1,0, √ 5)

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Example

■ Step 4. Rotate the cube 90° about the z axis

■ Finally, the concatenated rotation matrix about the arbitrary axis AB

becomes,

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Example

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 Example

■ Multiplying R(θ) by the point matrix of the original cube

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Other Transformations

■ Reflection Relative to the xy Plane

y y

z x x

■ Z-axis Shear

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Coordinate Transformations

■ Multiple Coordinate System

■ Local (modeling) coordinate system
■ World coordinate scene

Local Coordinate System

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Coordinate Transformations

■ Multiple Coordinate System

■ Local (modeling) coordinate system
■ World coordinate scene

World Coordinate System

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Coordinate Transformations

■ Example – Simulation of Tractor movement

■ As tractor moves, tractor coordinate system and front-wheel
coordinate system move in world coordinate system
■ Front wheels rotate in wheel coordinate system

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Coordinate Transformations

■ Transformation of an Object Description from

One Coordinate System to Another
■ Transformation Matrix
■ Bring the two coordinates systems into alignment
1. Translation
y’
y
u' y x’
y u' x u' y
(x0,y0,z0) u' x
u 'z (0,0,0) x
z’ z u' z
(0,0,0) x
z

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Coordinate Transformations

2. Rotation & Scaling

y’ y y y
x’ u' u'
u' y y y
u' x u
x (0,0,0)u'x x (0,0,0) 'x x
z (0,0,0) z u' z u'
z’ u'z z z

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