Geometric Transformations for

Computer Graphics

Presentation by
R.Sakthivel Murugan,
AP/Mech,
KCET.
Coordinate Systems
• World Coordinate System
• Object Coordinate System
• Hierarchical Coordinate Systems
• Viewpoint Coordinate System
• Model Window Coordinate System
• Screen Coordinate System
• Viewport Coordinate System
World Coordinate System
• Also known as the "universe" or sometimes
"model" coordinate system.
• This is the base reference system for the overall
model, ( generally in 3D ), to which all other
model coordinates relate.

Object Coordinate System

• When each object is created in a modelling
program, the modeler must pick some point to
be the origin of that particular object, and the
orientation of the object to a set of model axes.
Hierarchical Coordinate Systems
• Objects in a scene are arranged in a hierarchy, so
that the "position" of one object in the hierarchy is
relative to its parent in the hierarchy scheme,
rather than to the world coordinate system.

View point Coordinate Systems

• This coordinate system is based upon the
viewpoint of the observer, and changes as
they change their view.
Model Window Coordinate System
• Coordinate system refers to the subset of the overall
model world that is to be displayed on the screen

Screen Coordinate System

• 2D coordinate system refers to the physical coordinates
of the pixels on the computer screen, based on current
screen resolution. ( E.g. 1024x768 )

Viewport Coordinate System

• Coordinate system refers to a subset of the screen space
where the model window is to be displayed.
2D 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.
Types of 2D Transformations
• Translation
• Rotations
• Scaling
• Reflections
2D Translation
(x’,y’)

(tx,ty)

(x,y)

• 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.
2D Translation
P  ( x, y )
T  (t x , t y )
?
P'  ( x' , y ' )
x'  x  t x
ty =4 y'  y  t y
By Matrix Form,
tx = 6  x '   x  t x 
 y '   y   t 
(2, 2)

     y
P'  P  T
T  TransformationMatrix
2D Rotation
P’

• A rotation repositions all points in an object along a

circular path in the plane centered at the pivot point.
• First, we’ll assume the pivot is at the origin.
 2D Rotation
Review Trigonometry
=> cos  = x/r ,
sin = y/r
P’(x’, y’)
x = r. cos , y = r.sin 
=> cos (+ ) = x’/r 
•x’ = r. cos (+ ) r
y’ P(x,y)
•x’ = r.coscos -r.sinsin
•x’ = x.cos  – y.sin   r
y

=>sin (+ ) = y’/r x
x’
y’ = r. sin (+ )
•y’ = r.cossin + r.sincos
•y’ = x.sin  + y.cos 
2D Rotation
x'  r cos  cos   r sin  sin 
y '  r cos  sin   r sin  cos 
x'  x cos   y sin 
y '  x sin   y cos 
By Matrix Form,

 x' cos   sin    x 

 y '   sin  cos    y 
    
P'  R  P
R  RotationMatrix
Scaling
P’

• Scaling changes the size of an object and

involves two scale factors, Sx and Sy for the x-
and y- coordinates respectively.
• Scales are about the origin.
Scaling
P  ( x, y )
Sx S  (s x , s y )

Sy
x'  s x x
y'  s y y
y

 x'  s x 0  x
 y '   0 s y   y 
  
x , yf 
P'  S  P
f
x
S-> Scale factor
2D Reflections
y y y

x x

Reflection about X axis Reflection about Y axis Reflection about X & Y axis

P  ( x, y ) P  ( x, y ) P  ( x, y )
P '  ( x' , y ' )  [ X ,Y ] P'  ( x' , y ' )  [ X , Y ] P '  ( x' , y ' )  [ X ,Y ]

1 0   x    1 0  x   1 0   x 
P'     P'     P'    
0  1  y   0 1  y   0  1  y 
P '  Pm  P P '  Rm  P P'  Z m  P
Specifying 2D Transformations

• Translation
– T(tx, ty)
– Translation distances
• Scale
– S(sx,sy)
– Scale factors
• Rotation
– R()
– Rotation angle
Homogeneous Coordinates
w

x 

• Let’s move our problem into 3D.

• Let point (x, y) in 2D be represented by point (x, y, 1) in the new
space.
• Scaling our new point by any value a puts us somewhere along a
particular line: (ax, ay, a).
• A point in 2D can be represented in many ways in the new space.
• (2, 4) ---------- (8, 16, 4) or (6, 12, 3) or (2, 4, 1) or etc.
Homogeneous Coordinates
Why do we use 1 for the last coordinate?

• The fact that all the points along each line can
be mapped back to the same point in 2D gives
this coordinate system its name – homogeneous
coordinates.
  x  1 0 t x   x 
 y  0 1 t    y  , P  T t , t  P
2D Translation
   y    x y
 1  0 0 1   1 

 x  cos   sin  0  x 
2D Rotation  y   sin  cos  0   y  , P  R    P
  
 1   0 0 1   1 

 x   S x 0 0  x 
2D Scaling  y   0 Sy 0   y  , P  S  S x , S y   P
  
 1   0 0 1   1 
Composite transformations
• More complex geometric & coordinate transformation
can be built from the basic transformation by using the
process of composition of function.

• We can represent any sequence of transformations as a

single matrix.
– No special cases when transforming a point
• matrix • vector.
– Composite transformations
• matrix • matrix.
Inverse transformations:

1 0 t x   cos  sin  0 1 S x 0 0
T1  0 1 t y  , R 1    sin  cos  0 , S 1   0 1 S y 0
0 0 1   0 0 1   0 0 1 

Composite transformations: P  M2  M1  P    M2  M1   P  M  P

   
P  T  t2 x , t2 y  T  t1x , t1 y   P  T  t2 x , t2 y   T  t1x , t1 y   P

1 0 t2 x  1 0 t1x  1 0 t1x  t2 x 
0 1 t   0 1 t   0 1 t  t 
Composite translations:  2y   1y   1y 2y 

0 0 1  0 0 1  0 0 1 

T  t2 x , t2 y   T  t1x , t1 y   T  t1x  t2 x , t1 y  t2 y 
 P  R  2  R 1   P  R  2   R 1   P

Composite Rotations: R  2   R 1   R 1   2 

P  R 1   2   P

 S2 x 0 0   S1x 0 0   S1x  S2 x 0 0
 0 S2 y 0    0 S1 y 0    0 S1 y  S2 y 0 

 0 0 1   0 0 1   0 0 1 

Composite Scaling: S  S2 x , S2 y   S  S1x , S1 y   S  S1x  S2 x , S1 y  S2 y 

3D Translation
Very similar to 2D. Using 4x4 matrices rather than 3x3.

Translation x  x  t x
y
y  y  t y

z  z  tz

 x, y, z  x   1 0 0 tx   x 

 x, y, z   y  0
  1 0 t y   y 

 z  0 0 1 tz   z 
z x      
 1  0 0 0 1  1
3D Scaling
y y
x  x  S x

y  y  S y

z  x  S z

z x z x
Enlarging object also moves it from origin

 x   S x 0 0 0  x 
 y  0 Sy 0 0  y 
P        SP
 z   0 0 Sz 0  z 
     
1  0 0 0 1  1 
3D Rotations
 x' 1 0 0 0  x 
 y ' 0 Cos  Sin 0  y 
Rotation about X-axis ( Y-Z Plane) P'      
 z '  0 Sin Cos 
0 z
     
 1  0 0 0 1  1 

 x'  Sin 0 Cos 0  x 

 y '  0 1 0 0  y 
Rotation about Y-axis ( Z-X Plane) P'      
 z '  Cos 0  Sin 
0 z
     
1  0 0 0 1  1 

 x' Cos  Sin 0 0  x 

 y '  Sin Cos 0 0  y 
Rotation about Z-axis ( X-Y Plane) P'      
 z'  0 0 1 0  z 
     
1  0 0 0 1  1 
Thank You