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1 MCA 401A - Computer Graphics, Dept of Computer SC, M U

The document introduces concepts related to coordinate-free geometry. It defines scalars, vectors, and points as the basic elements of geometry. It discusses operations that can be performed on vectors, including addition and scalar multiplication. It introduces the concepts of affine spaces and linear vector spaces as frameworks for manipulating vectors and points. Key geometric objects like lines, rays, line segments, and planes are defined parametrically using vectors and points. The document also covers topics like bases, dimension, and representation of geometric entities using coordinate systems.
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0% found this document useful (0 votes)
43 views45 pages

1 MCA 401A - Computer Graphics, Dept of Computer SC, M U

The document introduces concepts related to coordinate-free geometry. It defines scalars, vectors, and points as the basic elements of geometry. It discusses operations that can be performed on vectors, including addition and scalar multiplication. It introduces the concepts of affine spaces and linear vector spaces as frameworks for manipulating vectors and points. Key geometric objects like lines, rays, line segments, and planes are defined parametrically using vectors and points. The document also covers topics like bases, dimension, and representation of geometric entities using coordinate systems.
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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***

MCA 401A - Computer Graphics, Dept of Computer Sc, M U 1


Outline
 Introduce the elements of geometry
 Scalars
 Vectors
 Points
 Develop mathematical operations among them in a coordinate-free
manner
 Define basic primitives
 Line segments
 Polygons

2 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Basic Elements
 Geometry is the study of the relationships among objects in an n-
dimensional space
 In computer graphics, we are interested in objects that exist in three
dimensions
 Want a minimum set of primitives from which we can build more
sophisticated objects
 We will need three basic elements
 Scalars
 Vectors
 Points

3 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Coordinate-Free Geometry
 When we learned simple geometry, most of us started with a Cartesian approach
 Points were at locations in space p=(x,y,z)
 We derived results by algebraic manipulations involving these coordinates
 This approach was nonphysical
 Physically, points exist regardless of the location of an arbitrary coordinate
system
 Most geometric results are independent of the coordinate system
 Example Euclidean geometry: two triangles are identical if two corresponding
sides and the angle between them are identical

4 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Scalars
 Need three basic elements in geometry
 Scalars, Vectors, Points
 Scalars can be defined as members of sets which can be combined
by two operations (addition and multiplication) obeying some
fundamental axioms (associativity, commutivity, inverses)

 Examples include the real and complex number systems under the
ordinary rules with which we are familiar
 Scalars alone have no geometric properties

5 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Vectors
 Physical definition: a vector is a quantity with two attributes
 Direction
 Magnitude
 Examples include
 Force
 Velocity
 Directed line segments
 Most important example for graphics v
 Can map to other types

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Vector Operations
 Every vector has an inverse
 Same magnitude but points in opposite direction
 Every vector can be multiplied by a scalar
 There is a zero vector
 Zero magnitude, undefined orientation
 The sum of any two vectors is a vector
 Use head-to-tail axiom

v w
v -v v

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Linear Vector Spaces
 Vector Spaces, Affine Spaces, Euclidian Spaces
 Mathematical system for manipulating vectors
 Operations
 Scalar-vector multiplication u=v

 Vector-vector addition: w=u+v


 Expressions such as
v=u+2w-3r
Make sense in a vector space

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Vectors Lack Position
 These vectors are identical
 Same length and magnitude

 Vectors spaces insufficient for geometry


 Need points
9 MCA 401A - Computer Graphics, Dept of Computer Sc, M U
Points
 Location in space, (mathematically, neither a size nor a shape)
 Operations allowed between points and vectors
 Point-point subtraction yields a vector
 Equivalent to point-vector addition

v=P-Q

P=v+Q

10 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Affine Spaces
 Affine Spaces : an extension to vector space that includes
 Point + a vector space
 Operations
 Vector-vector addition
 Scalar-vector multiplication
 Point-vector addition
 Scalar-scalar operations
 For any point define
 1•P=P
 0 • P = 0 (zero vector)

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Lines
 The sum of a point and vector (or subtraction of two points) leads to the
notion of a line in an affine space
 Consider all points of the form
 P()=P0 +  d
 Set of all points that pass through P0
in the direction of the vector d

12 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Parametric Form
 This form is known as the parametric form of the line( because we
generate points on the lines by varying the parameter .)
 More robust and general than other forms
 Extends to curves and surfaces
 Two-dimensional forms
 Explicit: y = mx +h
 Implicit: ax + by +c =0
 Parametric:
x() = x0 + (1-)x1
y() = y0 + (1-)y1

13 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Rays and Line Segments
 If  >= 0, then P() is the ray leaving P0 in the direction d
If we use two points to define v, then
P( ) = Q +  (R-Q)=Q+v
=R + (1-)Q
For 0<=<=1 we get all the
points on the line segment
joining R and Q
 We can always find a point R such that
v =R-Q
14 MCA 401A - Computer Graphics, Dept of Computer Sc, M U
Convexity
 An object is convex iff for any two points in the object all points on the line
segment between these points are also in the object

Q Q

not convex
convex

15 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Affine Sums
 Operations of Affine space :
 Vector-vector addition, Scalar-vector multiplication
 Point-vector addition, Scalar-scalar operations
 Addition of two arbitrary points and multiplication of a point by a scalar are
not defined.
 Consider the “sum”
P=1P1+2P2+…..+nPn
Can show by induction that this sum makes sense iff
1+2+…..n=1
in which case we have the affine sum of the points P1,P2,…..Pn
 If, in addition, i>=0, we have the convex hull of P1,P2,…..Pn

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Convex Hull
 Smallest convex object containing P1, P2, …..Pn
 Formed by “shrink wrapping” points

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Curves and Surfaces
 Curves are one parameter entities of the form P() where the function is
nonlinear
 Surfaces are formed from two-parameter functions P(, b)
 Linear functions give planes and polygons

P() P(, b)
18 MCA 401A - Computer Graphics, Dept of Computer Sc, M U
Planes
 A plane can be defined by a point and two vectors or by three points
P

R R
u

P(,b)=R+u+bv P(,b)=R+(Q-R)+b(P-Q)

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Triangles
convex sum of S() and R

convex sum of P and Q

for 0<=,b<=1, we get all points in triangle

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Normals
 Every plane has a vector n normal (perpendicular, orthogonal) to it
 From point-two vector form P(,b)=R+u+bv, we know we can use the
cross product to find n = u  v and the equivalent form
(P()-P)  n=0

u
P

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***

22 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Objectives
 Introduce concepts such as dimension and basis
 Introduce coordinate systems for representing vectors spaces and
frames for representing affine spaces
 Discuss change of frames and bases
 Introduce homogeneous coordinates

23 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Linear Independence
 A set of vectors v1, v2, …, vn is linearly independent if
1v1+2v2+.. nvn=0 iff 1=2=…=0
 If a set of vectors is linearly independent, we cannot represent one in
terms of the others
 If a set of vectors is linearly dependent, as least one can be written in
terms of the others

24 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Dimension
 In a vector space, the maximum number of linearly independent
vectors is fixed and is called the dimension of the space
 In an n-dimensional space, any set of n linearly independent vectors
form a basis for the space
 Given a basis v1, v2,…., vn, any vector v can be written as
v=1v1+ 2v2 +….+nvn
where the {i} are unique

25 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Representation
 Until now we have been able to work with geometric entities without
using any frame of reference, such as a coordinate system
 Need a frame of reference to relate points and objects to our physical
world.
 For example, where is a point? Can’t answer without a reference system
 World coordinates
 Camera coordinates

26 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Coordinate Systems
 Consider a basis v1, v2,…., vn
 A vector is written v=1v1+ 2v2 +….+nvn
 The list of scalars {1, 2, …. n}is the representation of v with respect
to the given basis
 We can write the representation as a row or column array of scalars
 1 
 
a = [ 1 2 …. n]T=  2
 . 
 
 n
 
27 MCA 401A - Computer Graphics, Dept of Computer Sc, M U
Example
 v=2v1+3v2-4v3
 a=[2 3 –4]T
 Note that this representation is with respect to a particular basis
 For example, in OpenGL we start by representing vectors using the object
basis but later the system needs a representation in terms of the camera or
eye basis

28 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Coordinate Systems
 Which is correct?

 Both are because vectors have no fixed location


 Vectors have directions and magnitudes, but lack a position attribute.

29 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Frames
 A coordinate system is insufficient to represent points
 If we work in an affine space we can add a single point, the origin, to the
basis vectors to form a frame.

 The origin and the basis vectors determine a frame.

v2
v1
P0

v3

30 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Representation in a Frame
 Frame determined by (P0, v1, v2, v3)
 Within this frame, every vector can be written as
v = 1v1+ 2v2 +….+nvn
 Every point can be written as
P = P0 + b1v1+ b2v2 +….+bnvn

31 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Confusing Points and Vectors
Consider the point and the vector
P = P0 + b1v1+ b2v2 +….+bnvn
v=1v1+ 2v2 +….+nvn
They appear to have the similar representations
p=[b1 b2 b3] v=[1 2 3]
which confuses the point with the vector v
A vector has no position. Vector can be placed anywhere
p

v
Interpretation : A given vector can be defined
as going from a fixed reference point, the
origin, to a particular point in space point: fixed

32 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


A Single Representation
If we define 0•P = 0 and 1•P =P then we can write
v=1v1+ 2v2 +3v3 = [1 2 3 0 ] [v1 v2 v3 P0] T
P = P0 + b1v1+ b2v2 +b3v3= [b1 b2 b3 1 ] [v1 v2 v3 P0] T
Thus we obtain the four-dimensional homogeneous coordinate
representation
v = [1 2 3 0 ] T
p = [b b b 1 ] T
1 2 3

33 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Homogeneous Coordinates
The homogeneous coordinates form for a three dimensional point [x y z] is
given as
p =[x’ y’ z’ w] T =[wx wy wz w] T
We return to a three dimensional point (for w0) by
xx’/w
yy’/w
zz’/w
If w=0, the representation is that of a vector
Note that homogeneous coordinates replaces points in three dimensions by
lines through the origin in four dimensions
For w=1, the representation of a point is [x y z 1]

34 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Homogeneous Coordinates and Computer Graphics

 Homogeneous coordinates are key to all computer graphics systems


 All standard transformations (rotation, translation, scaling) can be
implemented with matrix multiplications using 4 x 4 matrices
 Hardware pipeline works with 4 dimensional representations
 For orthographic viewing, we can maintain w=0 for vectors and w=1 for
points
 For perspective we need a perspective division

35 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Change of Coordinate Systems
 Consider two representations of the same vector with respect to two
different bases. The representations are

a = [1 2 3 ]
b = [b1 b2 b3]
where

v=1v1+ 2v2 +3v3 = [1 2 3] [v1 v2 v3] T


=b u + b u +b u = [b b b ] [u u u ] T
1 1 2 2 3 3 1 2 3 1 2 3

36 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Representing second basis in terms of first
Each of the basis vectors, u1,u2, u3, are vectors that can be represented in
terms of the first basis
v

u1 = g11v1+g12v2+g13v3
u2 = g21v1+g22v2+g23v3
u3 = g31v1+g32v2+g33v3

37 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Matrix Form
The coefficients define a 3 x 3 matrix

 g g g 


M= g g  
g  
 

 g  g  g 33 

and the bases can be related by

a = MT b
see text for numerical examples

38 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Change of Frames
 We can apply a similar process in homogeneous coordinates to the
representations of both points and vectors
u1 u2
Consider two frames: v2
(P0, v1, v2, v3) Q0
(Q0, u1, u2, u3) P0 v1
u3
v3
 Any point or vector can be represented in either frame
 We can represent Q0, u1, u2, u3 in terms of P0, v1, v2, v3

39 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Representing One Frame in Terms of the Other
Extending what we did with change of bases

u1 = g11v1 + g12v2 + g13v3


u2 = g21v1 + g22v2 + g23v3
u3 = g31v1 + g32v2 + g33v3
Q0 = g41v1 + g42v2 + g43v3 + g44P0

defining a 4 x 4 matrix
 g g g 
g g  g  
M =   
 g  g  g  
 
 g  g  g  
40 MCA 401A - Computer Graphics, Dept of Computer Sc, M U
Working with Representations
Within the two frames any point or vector has a representation of the
same form

a=[1 2 3 4 ] in the first frame


b=[b1 b2 b3 b4 ] in the second frame

where 4 = b4 =  for points and 4 = b4 =  for vectors and


a=MTb
The matrix M is 4 x 4 and specifies an affine transformation in homogeneous
coordinates
41 MCA 401A - Computer Graphics, Dept of Computer Sc, M U
Affine Transformations
 Every linear transformation is equivalent to a change in frames
 Every affine transformation preserves lines
 However, an affine transformation has only 12 degrees of freedom because
4 of the elements in the matrix are fixed and are a subset of all possible 4 x
4 linear transformations

42 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


The World and Camera Frames
 When we work with representations, we work with n-tuples or arrays of
scalars
 Changes in frame are then defined by 4 x 4 matrices
 In OpenGL, the base frame that we start with is the world frame
 Eventually we represent entities in the camera frame by changing the
world representation using the model-view matrix
 Initially these frames are the same (M=I)

43 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


Moving the Camera
If objects are on both sides of z=0, we must move camera frame
1 0 0 0 
0 1 0 0 
 
M= 0 0 1  d
 
0 0 0 1 

44 MCA 401A - Computer Graphics, Dept of Computer Sc, M U


REFERENCE

1. Edward Angel, Interactive Computer Graphics - A top-Down


Approach Using OpenGL,5E , Pearson 2013.

2. D Hearn and P Backer, Computer Graphics, Pearson 2004.

MCA 401A - Computer Graphics, Dept of Computer Sc, M U 45

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