Matrix Representation of Transformations

An matrix is a set oI numbers arranged in rows and columns. The Iollowing
illustration shows several matrices.


Illustration showing six matrices of varying dimensions
You can add two matrices oI the same size by adding individual elements. The Iollowing
illustration shows two examples oI matrix addition.

Illustration that shows how to perform matrix addition
An matrix can be multiplied by an matrix. and the result is an matrix. The
number oI columns in the Iirst matrix must be the same as the number oI rows in the
second matrix. For example. a 4 ×2 matrix can be multiplied by a 2 ×3 matrix to produce
a 4 ×3 matrix.
Points in the plane and rows and columns oI a matrix can be thought oI as vectors. For
example. (2. 5) is a vector with two components. and (3. 7. 1) is a vector with three
components. The dot product oI two vectors is deIined as Iollows:
(a. b) (c. d) ÷ ac ¹ bd
(a. b. c) (d. e. I) ÷ ad ¹ be ¹ cI
For example. the dot product oI (2. 3) and (5. 4) is (2)(5) ¹ (3)(4) ÷ 22. The dot product
oI (2. 5. 1) and (4. 3. 1) is (2)(4) ¹ (5)(3) ¹ (1)(1) ÷ 24. Note that the dot product oI two
vectors is a number. not another vector. Also note that you can calculate the dot product
only iI the two vectors have the same number oI components.
Let A(i. i) be the entry in matrix A in the ith row and the ith column. For example A(3.
2) is the entry in matrix A in the 3rd row and the 2nd column. Suppose A. B. and C are
matrices. and AB ÷ C. The entries oI C are calculated as Iollows:
C(i. i) ÷ (row i oI A) (column i oI B)
The Iollowing illustration shows several examples oI matrix multiplication.

Illustration that shows how to perform matrix multiplication
II you think oI a point in the plane as a 1 × 2 matrix. you can transIorm that point by
multiplying it by a 2 × 2 matrix. The Iollowing illustration shows several transIormations
applied to the point (2. 1).


Illustration that shows how to use matrix multiplication to scale. rotate. or reflect a
point in a plane
All the transIormations shown in the previous Iigure are linear transIormations. Certain
other transIormations. such as translation. are not linear. and cannot be expressed as
multiplication by a 2 × 2 matrix. Suppose you want to start with the point (2. 1). rotate it
90 degrees. translate it 3 units in the x direction. and translate it 4 units in the y direction.
You can accomplish this by perIorming a matrix multiplication Iollowed by a matrix
addition.

Illustration that shows how matrix multiplication and addition can rotate a point
and translate it twice
A linear transIormation (multiplication by a 2 × 2 matrix) Iollowed by a translation
(addition oI a 1 × 2 matrix) is called an aIIine transIormation. An alternative to storing an
aIIine transIormation in a pair oI matrices (one Ior the linear part and one Ior the
translation) is to store the entire transIormation in a 3 × 3 matrix. To make this work. a
point in the plane must be stored in a 1 × 3 matrix with a dummy 3rd coordinate. The
usual technique is to make all 3rd coordinates equal to 1. For example. the point (2. 1) is
represented by the matrix |2 1 1|. The Iollowing illustration shows an aIIine
transIormation (rotate 90 degrees; translate 3 units in the x direction. 4 units in the y
direction) expressed as multiplication by a single 3 × 3 matrix.

Illustration that shows how matrix multiplication can perform an affine
transformation
In the previous example. the point (2. 1) is mapped to the point (2. 6). Note that the third
column oI the 3 × 3 matrix contains the numbers 0. 0. 1. This will always be the case Ior
the 3 × 3 matrix oI an aIIine transIormation. The important numbers are the six numbers
in columns 1 and 2. The upper-leIt 2 × 2 portion oI the matrix represents the linear part oI
the transIormation. and the Iirst two entries in the 3rd row represent the translation.


Illustration showing that the first two columns are most significant for a 3x3 matrix
of an affine transformation
In Windows GDI¹ you can store an aIIine transIormation in a Matrix obiect. Because
the third column oI a matrix that represents an aIIine transIormation is always (0. 0. 1).
you speciIy only the six numbers in the Iirst two columns when you construct a Matrix
obiect. The statement Matrix myMatrix(0.0f, 1.0f, -1.0f, 0.0f, 3.0f, 4.0f);
constructs the matrix shown in the previous Iigure.
Composite Transformations
A composite transIormation is a sequence oI transIormations. one Iollowed by the other.
Consider the matrices and transIormations in the Iollowing list:
• Matrix A Rotate 90 degrees
• Matrix B Scale by a Iactor oI 2 in the x direction
• Matrix C Translate 3 units in the y direction
II you start with the point (2. 1) represented by the matrix |2 1 1| and multiply by
A. then B. then C. the point (2.1) will undergo the three transIormations in the order
listed.
|2 1 1|ABC ÷ | 2 5 1|
Rather than store the three parts oI the composite transIormation in three separate
matrices. you can multiply A. B. and C together to get a single 3 × 3 matrix that stores
the entire composite transIormation. Suppose ABC ÷ D. Then a point multiplied by D
gives the same result as a point multiplied by A. then B. then C.
|2 1 1|D ÷ | 2 5 1|
The Iollowing illustration shows the matrices A. B. C. and D.

Illustration showing how to perform multiple transformations by multiplying the
constituent matrices
The Iact that the matrix oI a composite transIormation can be Iormed by multiplying the
individual transIormation matrices means that any sequence oI aIIine transIormations can
be stored in a single Matrix obiect.
Note The order oI a composite transIormation is important. In general. rotate. then
scale. then translate is not the same as scale. then rotate. then translate. Similarly. the
order oI matrix multiplication is important. In general. ABC is not the same as BAC.
The Matrix class provides several methods Ior building a composite transIormation:
Matrix::Multiply. Matrix::Rotate. Matrix::RotateAt. Matrix::Scale. Matrix::Shear.
and Matrix::Translate. The Iollowing example creates the matrix oI a composite
transIormation that Iirst rotates 30 degrees. then scales by a Iactor oI 2 in the y direction.
and then translates 5 units in the x direction.
Copy

Matrix myMatrix;
myMatrix.Rotate(30.0f);
myMatrix.Scale(1.0f, 2.0f, MatrixOrderAppend);
myMatrix.Translate(5.0f, 0.0f, MatrixOrderAppend);
The Iollowing illustration shows the matrix.

Illustration that shows a matrix with values expressed as trigonometric functions.
and a matrix with approximate values of those functions

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