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2D Transfrmn Translation ND Rotation

The document discusses 2D transformations in computer graphics, focusing on translation and rotation. Translation involves repositioning an object along a straight line by adding translation distances to its coordinates, while rotation involves repositioning an object along a circular path around a pivot point defined by an angle. Both transformations maintain the object's shape and are represented mathematically using matrix equations.

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8 views19 pages

2D Transfrmn Translation ND Rotation

The document discusses 2D transformations in computer graphics, focusing on translation and rotation. Translation involves repositioning an object along a straight line by adding translation distances to its coordinates, while rotation involves repositioning an object along a circular path around a pivot point defined by an angle. Both transformations maintain the object's shape and are represented mathematically using matrix equations.

Uploaded by

Vikas Kushwaha
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CSE411

Computer Graphics

2D Transformations – Translation & Rotation

Dr. Sushitha Susan Joseph


Asst. Professor
Dept. of CSE
IIIT Kottayam
4. Translation
• A translation is applied to an object by repositioning it along a straight-line
path from one coordinate location to another.
• We translate a two-dimensional point by adding translation distances, 𝑡𝑥 , and
𝑡𝑦 , to the original coordinate position (x, y) to move the point to a new
position (x', y') as shown in below figure.

P'

Figure. Translating a point from position P to position P' with translation vector T .
• 𝑥 ′ = 𝑥 + 𝑡𝑥 ,
• 𝑦 ′ = 𝑦 + 𝑡𝑦
• The translation distance pair (𝑡𝑥 , 𝑡𝑦 ) is called a translation vector or
shift vector.
• We can express the translation equations as a single matrix equation
as follows
 x  x' t x 
P =  , P ' =  , T =  
 y  y ' t y 

𝑷′ = 𝑷 + 𝑻
• Translation moves the object without deformation (rigid-body
transformation)
• To move a line segment, apply the transformation equation to each of
the two line endpoints and redraw the line between new endpoints
• To move a polygon, apply the transformation equation to coordinates
of each vertex and regenerate the polygon using the new set of vertex
coordinates
Translation (55,60)

(20,35)

(45,30)
(65,30)

x = x + tx
(10,5) (30,5)
y = y + t y
The vector (tx, ty) is called the offset vector.
5. Rotation
• A two-dimensional rotation is applied to an object by repositioning it
along a circular path in the xy plane.
• To generate a rotation, we specify a rotation angle 𝜃 and the position
(𝑥𝑟 , 𝑦𝑟 ) of the rotation point (or pivot point) about which the object is to
be rotated (Fig. 5-3).

Figure 5-3 Rotation of an object through angle 𝜃 about the pivot point (𝑥𝑟 , 𝑦𝑟 ).
5. Rotation
• Positive values for the rotation angle define counterclockwise rotations
about the pivot point, as in Fig. 5-3, and negative values rotate objects in
the clockwise direction.

Determining the transformation equations for rotation of a point position P


when the pivot point is at the coordinate origin.

• The angular and coordinate relationships of the original and transformed


point positions are shown in Fig. 5-4.
• In this figure, r is the constant distance of the point from the origin, angle
𝜙 is the original angular position of the point from the horizontal, and 𝜃
is the rotation angle.
5. Rotation

(x’,y’)

θ
r
(x,y)
r

Figure 5-4. Rotation of a point from position (x, y) to position (x', y ') through an angle 𝜃 relative to the
coordinate origin.
• we can express the transformed coordinates in terms of angles 𝜃 and
𝜙 as
𝑥
• Considering the right angled triangle, cos 𝜙 = adj/ hypotenuse=
𝑟
𝑥 = 𝑟 𝑐𝑜𝑠 𝜙
𝑦
sin 𝜙 = opposite/ hypotenuse=
𝑟
y = 𝑟 𝑠𝑖𝑛 𝜙
• Considering the next triangle,
𝑥′
cos (𝜃 + 𝜙) = adj/ hypotenuse=
𝑟
𝑥 ′ = 𝑟 𝑐𝑜𝑠 (θ + 𝜙)
= 𝑟 (𝑐𝑜𝑠 θ cos 𝜙 − sin θ 𝑠𝑖𝑛𝜙)
𝑥 ′ = 𝑥 cos 𝜃 − 𝑦 sin 𝜃
𝑦′
Similarly, sin (𝜃 + 𝜙) = opp/ hypotenuse=
𝑟
𝑦 ′ = 𝑟 𝑠𝑖𝑛 (θ + 𝜙)
= 𝑟 (𝑠𝑖𝑛 θ cos 𝜙 + cos θ 𝑠𝑖𝑛𝜙)
𝑦 ′ = 𝑥 sin 𝜃 + 𝑦 cos 𝜃

With column vector representations for coordinate points, we can write


the rotation equations in the matrix form.
𝑃′ = 𝑅. 𝑃
Where the rotation matrix is
cos  − sin  
R= 
 sin  cos  
Rotation About the Origin
y
(x’,y’)

(x’,y’)
(x,y)
(x,y)

o x
x  = x cos − y sin 
y  = x sin  + y cos
The above 2D rotation is actually a rotation about the
z-axis (0,0,1) by an angle .
• Rotation About a Pivot Point

Figure 5-5. Rotating a point from (𝑥, 𝑦) to position (𝑥 ′ , 𝑦 ′ ) through an angle 𝜃 , about
the rotation point (𝑥𝑟 , 𝑦𝑟 ) .
Rotation About a Pivot Point

The transformation equations for rotation of a point about any


specified rotation position (𝑥𝑟 , 𝑦𝑟 )
x’= xr+(x - xr) cos θ – (y - yr) sin θ
y’= yr+(x - xr) sin θ + (y - yr) cos θ
• Rotations move objects without deformation
• A line is rotated by applying the rotation formula to each of the
endpoints and redrawing the line between the new end points
• A polygon is rotated by applying the rotation formula to each of the
vertices and redrawing the polygon using new vertex coordinates
Rotation About a Pivot Point

(x’,y’) (x,y)

(xp , yp)
Pivot Point

•Pivot point is the point of rotation


•Pivot point need not necessarily be on the object
Rotation About a Pivot Point … Contd.

STEP-1: Translate the pivot point to the origin


(x,y)

(x1, y1)

(xp , yp)

x1 = x − x p

y1 = y − y p
Rotation About a Pivot Point … Contd.

STEP-2: Rotate about the origin


Counter clock wise or Anti clock Clock wise

(x2, y2) (x1, y1) (x2, y2) (x1, y1)

x 2 = x1cos − y1sin x 2 = x1 cos + y1sin 


y 2 = x1 sin + y1cos y 2 = − x1 sin  + y1 cos
Rotation About a Pivot Point … Contd.
STEP-3: Translate the pivot point to original position
(x’, y’)

(x2, y2)

(xp, yp)

x = x 2 + x p

y = y 2 + y p
Rotation About a Pivot Point … Contd.
x  = ( x − x p ) cos − ( y − y p ) sin  + x p
y  = ( x − x p ) sin  + ( y − y p ) cos + y p

Specifying a 2D-Rotation about a pivot point (xp,yp):

glTranslatef(xp, yp, 0);


glRotatef(theta, 0, 0, 1.0);
glTranslatef(-xp, -yp, 0);

Note the OpenGL specification of the sequence of transformations in the


reverse order !
Example of rotation

For rotations, |𝑅|= 1 and 𝑅𝑇 = 𝑅 −1


From the above two properties, we can say that the
Rotation matrices are orthogonal

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