3D Geometric

Transformation
(Chapt. 5 in FVD, Chapt. 11 in Hearn & Baker)

3D Coordinate Systems
• Right-handed coordinate system:
z

y
x
• Left-handed coordinate system:
y

z
x
 Reminder: Vector Product

UxV

θ
U

VxU

U × V = nˆ U V sin θ

xˆ yˆ zˆ u y v z − u z v y 
 
U ×V = u x uy u z = u z vx − u xvz 
vx vy v z  u x v y −u y v x 

3D Point
• A 3D point P is represented in
homogeneous coordinates by a
4-dim. vector:
 x
 y
P= 
z
 
1

• Note, that

 x  αx 
  α 
y y
p= ≡ 
 z  αz 
   
1   α 
 3D Transformations

• In homogeneous coordinates, 3D
transformations are represented by
4x4 matrices:
a b c tx 
d e f t 
 y
g h i tz 
 
0 0 0 1 
• A point transformation is
performed:
 x '  a b c tx  x
 '  d e f t y   y 
y  = 
 z '  g h i t z  z 
    
 1  0 0 0 1  1 

3D Translation
• P in translated to P' by:
1 0 0 t x   x   x'  x + t x 
0 1 0 t y   y   y '  y + t y 
 = =
0 0 1 t z   z   z'  z + t z 
      
0 0 0 1  1   1   1 

Or T P = P'
z

y
x

• Inverse translation: T −1 P ' = P

 Scaling
a 0 0 0  x   x ' ax 
0 b 0 0  y   y ' by 
 = =
0 0 c 0  z   z '   cz 
      
0 0 0 1  1   1   1 

Or S P = P'

z z

y y
x x

S −1 P ' = P

3D Shearing
• Shearing:
1 a b 0  x   x + ay + bz 
    
c 1 d 0  y  cx + y + dz 
=
e f 1 0  z   ex + fy + z 
    
0 0 0 1  1   1 
• The change in each coordinate
is a linear combination of all
three.
• Transforms a cube into a
general parallelepiped.
 3D Rotation
• To generate a rotation in 3D we
have to specify:
– axis of rotation (2 d.o.f)
– amount of rotation (1 d.o.f)
• Note, the axis passes through the
origin.

z
x

• A counter-clockwise rotation
about the z-axis:

 x' cosθ − sin θ 0 0  x 

 y '  sin 0 0  y 
 = θ cosθ
 z'  0 0 1 0  z 
    
1  0 0 0 1  1 

p ' = R z (θ ) p

y
x
• A counter-clockwise rotation
about the x-axis:

 x '  1 0 0 0  x 
 y ' 0 cos 0  y 
 = θ − sin θ
 z '  0 sin θ cosθ 0  z 
    
 1  0 0 0 1  1 

p ' = R x (θ ) p

y
x

• A counter-clockwise rotation
about the y-axis:

 x'  cosθ 0 sin θ 0  x 

 y '  0 1 0 0  y 
 =
 z '   − sin θ 0 cosθ 0  z 
    
1  0 0 0 1  1 

p ' = R y (θ ) p

y
x
 Inverse Rotation
p = R −1 (θ ) p ' = R ( −θ ) p '

Composite Rotations
• Rx, Ry, and Rz, can perform any
rotation about an axis passing
through the origin.

Rotation About an
Arbitrary Axis
• Axis of rotation can be located at
any point: 6 d.o.f.
• The idea: make the axis
coincident with one of the
coordinate axes (z axis), rotate,
and then transform back.
• Assume that the axis passes
through the point p0.
z
p0

y
x
 • Transformations:
– Translate P0 to the origin.
– Make the axis coincident with the
z-axis (for example):
• Rotate about the x-axis into the
xz plane.
• Rotate about the y-axis onto
the z-axis.
• Rotate as needed about the z-
axis.
• Apply inverse rotations about y
and x.
• Apply inverse translation.

y y
A
p0 D p0
x
x z
z

y
y
E
p0
B p0
x
x z
z

y y

C p0 F p0

x x
z z
 3D Reflection
• A reflection through the xy plane:

1 0 0 0  x   x 
0 1 0 0  y   y 
 =
0 0 −1 0  z   − z 
    
0 0 0 0  1   1 

• Reflections through the xz and the

yz planes are defined similarly.
• How can we reflect through some
arbitrary plane?

Transforming Planes
• Plane representation:
– By three non-collinear points
– By implicit equation:
 x
 
Ax + By + Cz + D = [A B C D ]  = 0
y
z
 
1 

A B C 
D 1
 D D 

P1
P2

[x y z 1]
P0
• One way to transform a plane is
by transforming any three non-
collinear points on the plane.
• Another way is to transform the
plane equation: Given a
transformation T that
transforms [x,y,z,1] to [x',y',z',1]
find [A',B',C',D'], such that:

 x '
 y '
[A' B ' C ' D ']  = 0
z'
 
1

• Note that
x
 
[A B C D ]T T
−1  y 
z
=0
 
1 

• Thus, the transformation that

we should apply to the plane
equation is:

 A'   A
 B'   
  = T −1
C '
( )T B
 
C 
   
 D' D
 Changing Coordinate
Systems
• Problem: Given the XYZ
orthogonal coordinate system,
find a transformation, M, that
maps XYZ to an arbitrary
orthogonal system UVW.
• This transformation changes a
representation from the UVW
system to the XYZ system.
w=(wx,wy,wz)
z

(x0,y0,z0)
u=(ux,uy,uz)
y
x
v=(vx,vy,vz)

• Solution: M=RT where T is a

translation matrix by (x0,y0,z0), and
R is rotation matrix whose columns
are U,V, and W:

u x vx wx 0
u vy wy 0
R= y
u z vz wz 0
 
0 0 0 1

because

u x vx wx 0 1  u x 
u vy wy 0 0 u y 
RX =  y = =U
u z vz wz 0  0   u z 
    
0 0 0 1 1   1 
• Similarly, Y goes into V, and Z
goes into W.
• The inverse transform, T-1R-1,
provides the mapping from
UVW back to XYZ. For the
rotation matrix R-1=RT:

u x uy uz 0 u x 
 0 u y 
v vy vz
RT U =  x
 wx wy wz 0  u z 
  
0 0 0 1  1 
u x2 + u 2y + u z2  1
   
=  0  = 0 = X
 0  0
   
 1  1

• Comment: Very useful if an

arbitrary plane is to be mapped
to the XY plane or vice versa.
• Possible to apply if an arbitrary
vector is to be mapped to an
axis (How?).
Transformation Pipe-Line
Modeling
Coordinates

Modeling
Transformation

World Coordinates

Viewing
Transformation

Viewing Coordinates

Projection
Transformation

Projection Coordinates

Workstation
Transformation

Device Coordinates

Modeling Coordinate
Hierarchy zw
world

yw
xw
Tractor
System

Front-Wheel
System

World
transformation
Tractor

transformation

Front-wheel