Scribd
Upload
47 views29 pages

3-D Coordinate System: - Locations Are Defined by X, Y, Z

The document describes key concepts in 3D coordinate systems and transformations. It defines how locations are specified using x, y, z coordinates and how to calculate distances between points. It explains vectors and operations between points and vectors. Finally, it provides the mathematical formulas and matrices for common 3D transformations, including translation, rotation, scaling, and reflection.

Uploaded by

user567
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
47 views29 pages

3-D Coordinate System: - Locations Are Defined by X, Y, Z

The document describes key concepts in 3D coordinate systems and transformations. It defines how locations are specified using x, y, z coordinates and how to calculate distances between points. It explains vectors and operations between points and vectors. Finally, it provides the mathematical formulas and matrices for common 3D transformations, including translation, rotation, scaling, and reflection.

Uploaded by

user567
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
You are on page 1/ 29

3-D Coordinate System

• Locations are defined by x, y, z


3-D Coordinate System

• Locations are defined by x, y, z


Mathematical Notations

• 3D points can be described using simple


mathematical notation

P = (x, y, z)
Distance between Two 3D Points

• The distance between two points (Ax,Ay,Az)


and (Bx,By,Bz) can be found by again using
the pythagorus theorem
• Distance between A and B =
sqrt(dx2 + dy2 + dz2)
where
dx = Ax-Bx
dy = Ay-By
dz = Az-Bz
3D Vector

• a line going from the origin (0,0,0) to the


point (x,y,z).
Length of vector

• To calculate the length of a vector we simply


calculate the distance between the origin and
the point at (x,y, z) :
Operations between Points and Vectors

• point – point => vector


• point + point = point – ( - point) => vector
• vector – vector => vector
• vector + vector => vector
• point + vector => point
• point – vector = point + (-vector) => point
homogeneous coordinates
• Homogeneous coordinates: (xh, yh, h)
– Carry out operations on points and vectors
“homogeneously”
– h: Non-zero homogeneous parameter such that

– We can also write: (hx, hy, h)


– h=1 is a convenient choice so that we have (x, y, 1)
– Other values of h are useful in 3D viewing
transformations 8
2D translation matrix

9
2D rotation matrix

10
2D scaling matrix

11
Inverse transformations
Inverse translation

Inverse rotation

Inverse scaling

12
3D Translation

• Translation Distances tx, ty, tz


• For point P(x,y,z) after translation we have P′
(x′,y′,z′)
• x′ = x + tx ,
• y′ = y + ty ,
• z′ = z + tz
• (tx, ty , tz) is Translation vector
3D Translation
 • can be expressed as a single matrix equation:
P′ = P + T
Where P = P′ = T =
3D Rotation

Rotating a point requires :


1)  the coordinates for the point, and
2)  the rotation angles
3D Rotation
3D Rotation
Here we need to know three different angles:

• How far to rotate around the X axis


(YZ rotation, or “pitch”)

• How far to rotate around the Y axis


(XZ rotation, or “yaw”)

• How far to rotate around the Z axis


(XY rotation, or “roll”)
pitch
• Rotation about x-axis
(i.e. in yz plane):
• x′ = x
• y′ = y cosθ – z sinθ
• z′ = y sinθ + z cosθ
yaw
• Rotation about y-axis
(i.e. in xz plane):
• x′ = z sinθ + x cosθ
• y′ =y
• z′ = z cosθ – x sinθ
roll
• Rotation about z-axis
(i.e. in xy plane):
• x′ = x cosθ – y sinθ
• y′ = x sinθ + y cosθ
• z’ = z
3D Rotation about x-axis

 x' 1 0 0 0  x 
 y ' 0 cos   sin  0  y 
  .
 z '  0 sin  cos  0  z 
    
 1  0 0 0 1  1 
3D Rotation about y-axis

 x'  cos 0 sin  0  x 


 y '  0 1 0   
0  y 
  .
 z '   sin  0 cos  0  z 
    
1  0 0 0 1  1 
3D Rotation about z-axis

 x' cos   sin  0 0  x 


 y '  sin  cos    
0 0  y 
  .
 z'  0 0 1 0  z 
    
1  0 0 0 1  1 
3D Scaling
• Coordinate transformations for scaling relative to
the origin are
• X` = X . Sx
• Y` = Y . Sy
• Z` = Z . Sz
Uniform Scaling
• We preserve the original shape of an object with a
uniform scaling

• ( Sx = Sy = Sz)
Differential Scaling
• We do not preserve the original shape of an
object with a differential scaling

• ( Sx <> Sy <> Sz)


3D Scaling w.r.t. Origin

S x 0 0 0
0 Sy 0 0

0 0 Sz 0
 
0 0 0 1
3D Scaling w.r.t. a fixed position
• Translate the fixed point to the origin.
• Scale the object relative to the coordinate origin
• Translate the fixed point back to its original
position
3D Reflection
• In general, three-dimensional reflection
matrices are set up similarly to those for two
dimensions. Reflections relative to a given axis are
equivalent to 180 degree rotations.

You might also like