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Module 3

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Module 3

Uploaded by

ogiridharreddy
Copyright
© © All Rights Reserved
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Module 3

TRANSFORMATIONS
ALLPPT.com _ Free PowerPoint Templates, Diagrams and Charts
Three-Dimensional
Geometric Transformations
Three-Dimensional Translation
P = (x, y, z)  P’ = (x’, y’, z’)
Three-Dimensional Rotation
Three-Dimensional Coordinate-Axis
Rotations
z-axis rotation equations
Transformation equations for rotations about the other two
coordinate axes can be obtained with a cyclic permutation of
the coordinate parameters x, y, and z
x → y→ z→ x
equations for an x-axis rotation: equations for an y-axis
rotation:
General Three-Dimensional
Rotations
we attain the desired rotation with the following transformation
sequence:
1. Translate the object so that the rotation axis coincides with
the parallel coordinate axis.
2. Perform the specified rotation about that axis.
3. Translate the object so that the rotation axis is moved back to
its original position.
we can accomplish the required rotation in five steps:
1. Translate the object so that the rotation axis passes through the
coordinate origin.
2. Rotate the object so that the axis of rotation coincides with one of
The coordinate axes.
3. Perform the specified rotation about the selected coordinate axis.
4. Apply inverse rotations to bring the rotation axis back to its original
orientation.
5. Apply the inverse translation to bring the rotation axis back to its
original spatial position.
 A rotation axis can be defined with two coordinate positions
components of the rotation-axis vector are then computed as

The unit rotation-axis vector u is

where the components a, b, and c are the direction cosines for the
rotation axis
A vector dot product can be used to determine the cosine term, and a vector
cross product can be used to calculate the sine term
The transformation matrix for rotation about an arbitrary axis can then be
expressed as the composition of these seven individual transformations:
Quaternion Methods for Three-
Dimensional Rotations
 Quaternions, which are extensions of two-dimensional complex
numbers, are useful in a number of computer-graphics procedures
One way to characterize a quaternion is as an ordered pair, consisting
of a scalar part and a vector part:

 where u is a unit vector along the selected rotation axis and θ is the
specified rotation angle about this axis
Any point position P that is to be rotated by this quaternion can be
represented in quaternion notation as

The rotation of the point is then carried out with the quaternion
Operation

This transformation produces the following new quaternion:


Three-Dimensional Scaling

1. Translate the fixed point to the origin.


2. Apply the scaling transformation relative to the coordinate origin
using Equation
3. Translate the fixed point back to its original position.
Composite Three-Dimensional
Transformations
We can implement a transformation sequence by concatenating
the individual matrices from right to left or from left to right,
depending on the order in which the matrix representations are
specified.

We need to use this ordering for the matrix product because


coordinate positions are represented as four-element column
vectors, which are premultiplied by the composite 4 × 4
Transformation matrix.
Other Three-Dimensional
Transformations
Three-Dimensional Reflections
A reflection in a three-dimensional space can be performed
relative to a selected reflection axis or with respect to a
reflection plane

Three-Dimensional Shears
A general z-axis shearing transformation relative to a selected
reference position is produced with the following matrix
Affine Transformations

A coordinate transformation of the form

parameters aij and bk are constants determined by the


transformation type

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