1

3D Transformations
Cc php bin i 3 chiu
2
Translation - Tnh tin
(
(
(
(

(
(
(
(

=
(
(
(
(

1 1 0 0 0
1 0 0
0 1 0
0 0 1
1
'
'
'
z
y
x
t
t
t
z
y
x
z
y
x
(x,y,z)
(x,y,z)
T=(t
x
,t
y
,t
z
)
3
Scaling Bin i t l
(
(
(
(

(
(
(
(

=
(
(
(
(

1 1 0 0 0
0 0 0
0 0 0
0 0 0
1
'
'
'
z
y
x
s
s
s
z
y
x
z
y
x
4
Rotation - Quay
Trong 2D, php quay theo chiu ngc chiu kim ng h
trong mt phng Oxy.

Trong 3D, chng ta c th quay trn nhiu mt phng:
Oxy,
Oxz,
Oyz,
Mt phng bt k.

Chng ta c th xc nh mt phng quay bng vet vung
gc vi n.
Trc z,
Trc y,
Trc x,
Trc bt k.
5
Quay quanh trc ta
(
(
(
(

(
(
(
(

=
(
(
(
(

1 1 0 0 0
0 1 0 0
0 0 cos sin
0 0 sin cos
1
'
'
'
z
y
x
z
y
x
u u
u u
(
(
(
(

(
(
(
(

=
(
(
(
(

1 1 0 0 0
0 cos 0 sin
0 0 1 0
0 sin 0 cos
1
'
'
'
z
y
x
z
y
x
u u
u u
(
(
(
(

(
(
(
(

=
(
(
(
(

1 1 0 0 0
0 cos sin 0
0 sin cos 0
0 0 0 1
1
'
'
'
z
y
x
z
y
x
u u
u u
6
Quay quanh trc bt k
K hiu : R(r
x
, r
y
, r
z
, u)

Php quay xc nh bng mt vet v gc quay:
Trc quay i qua gc ta v mt im r
Php quay ngc chiu kim ng h theo trc quay
7
Cc bc thc hin php quay
B1. Quay trc quay n nm trn mt trc ta (Oz).
B2. p dng php quay gc u theo trc ta .
B3. p dng php quay ngc tr v trc ban u.
8
Phn tch

u tin, xc nh vect n v cng hng vi trc quay.





By gi ta thc hin php quay quanh vect n v.
z y x
z y x
r r r
r r r
u
, ,
, ,
=
9
Bc 1
u=<a,b,c>
u=<a,0,d>
u =<0,b,c>
o
u =<a,b,c>
|
u
z
=<0,0,1>
u=<a,0,d>
u
z
=<0,0,1>
Quay trc quay u n nm trn mt trc ta Oz.
10
Phn tch Bc 1
1. Quay u tr thnh u nm trn mt phng Oxz : Quay u theo
trc Ox.
Ta c th b thnh phn x ca u m khng mt tnh tng qut:





2. Quay u tr thnh u
z
nm trn trc Oz : Quay u theo trc
Oy.
2 2
, , 0
, ,
c b d u
c b u
c b a u
+ = =
'
=
'
=
1
, 0 ,
=
' '
=
' '
u
d a u
d
b
d
c
u u
u u
z
z
=
=
'

'
=
o
o
sin
cos
(
(
(
(
(

1 0 0 0
0 0
0 0
0 0 0 1
d
c
d
b
d
b
d
c
a
d
u u
u u
z
z
=
=
' '

' '
=
|
|
sin
cos
(
(
(
(

1 0 0 0
0 0
0 0 1 0
0 0
d a
a d
11
Bc 2
Quay theo trc Oz gc u






(
(
(
(

1 0 0 0
0 1 0 0
0 0 cos sin
0 0 sin cos
u u
u u
12
Tng hp

Kt qu ca php quay quanh trc bt k

P = R(u
x
,o) R(u
y
,|) R(u
z
,u) R(u
y
,|) R(u
x
,o) P
13
Quay quanh trc bt k
Khi trc quay khng i qua gc ta : trc quay c xc
nh bi 2 im.

Tnh tin v gc ta
Quay quanh trc qua gc ta
Tnh tin ngc li v tr ban u