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2D Transformations PDF
2D Transformations PDF
2D Transformations
Introduction of Transformations
• Changing of an object after creation {in terms
of position or size}.
• Different types of transformation
1. Translation
2. Scaling
3. Rotating
4. Reflection
5. Shearing
Translation
X1 X dx
• = +
Y1 Y dy
a’(7,8) 2 6 8
• B’=b+T ,------- 10
+ 5
= 15
b’(15,8) 2 6 8
• C’=c+T ,------- 5 + 5 = 10
• C’(10,11) 5 6 11
Rotation
• it is a process of changing the angle of the object.
• Rotation can be clockwise or anticlockwise.
• X=r*cos
• Y=r*sin , where is the angle between x-axis &
point P r is the distance from origin to P
• X’=x*cos -y*sin
• Y’=y*cos + x*sin
X’ X
• So cos -sin
= sin cos
Y’ Y
• P’=r*p
Rotation
cos 90 -sin 90 0 -1
• R= sin 90 cos 90 = 1 0
2 -2
0 -1
• A’= 1 0
2
= 2
8 -2
0 -1
• B’= 1 0
2 = 8
Rotation
5 -5
• C’= 0
1
-1
0
=
5 5
Scaling
• It is used to alter or change the size of objects.
• The change is done using scaling factors.
• There are two scaling factors, i.e. Sx in x
direction Sy in y-direction.
• Is multiplying with (s) scaling factor:
s(scaling) if s>1 scale up
s<1 scale down
Scaling
• X’=x. Sx
• Y’=Y.sy
• S= s x 0
0 sy
• P’ p s
X’ Y’ = X Y sx 0
0 sy
Scaling
• Scale triangle A (2,5) B(7,10) C(10,2) by 2 units
in x-axis and 2 units in y-axis
Scaling
• Scale triangle A (2,5) B(7,10) C(10,2) by 2 units
in x-axis and 2 units in y-axis
sx=2 sy =2
p’=p*s
4
A’= 2 5 2
0
0
2
=
10
14
B’= 7 10
2
0
0
2
20
20
2 0
c’= 10 2
0 2
4
Scaling
2 5 2 0 4 10
• 7
10
10
2
0 2 = 14
20
20
4
• Scaling multiplication
• Rotation multiplication
• Translation addition
• Translation p(x,y,1)
p(x,y,1)=[x,y,1]. 1 0 0
0 1 0
tx ty 1
• Rotation p(x,y,1)
cos sin 0
p(x’,y’,1)=[x,y,1]. -sin cos 0
0 0 1
• Scaling p(x’,y’,1)
Sx 0 0
p(x’,y’,1)=[x,y,1]. 0 sy 0
0 0 1
• A (1,0) B(0,1) C(1,1) find the transformation by
rotating 45 counter about origin & then
translating 1 unit in x-axis and 1 unit in y-axis.
cos sin 0 cos 45 sin 45 0
• R= -sin cos 0 = -sin 45 cos 45 0
0 0 1 0 0 1
• T= 0
1
tx
1
0
ty
0
0
1
= 1
0
1
1
1
0 0
0
1
• P’=P.[R.T]
Reflection
• it is a transformation which evaluate the mirrors
image of the object.
• it is of two types:
1. Reflection w.r.t x-axis
2. Reflection w.r.t y-axis
p’ Re(x) p
X’ X
= 0
1
-1
0
Y’ Y
p’=Re(x) *p
Reflection
• Re(y)
P’ Re(y) p
X’ X
= -1
0 1
0
Y’ Y
Reflection
• Example : A square a,b,c,d is given , the
coordinates are given as a(1,1) b(4,1) c(1,3)
d(4,3). Find the reflection with respect to both
x&y axis.
Reflection
• Example : A square a,b,c,d is given , the
coordinates are given as a(1,1) b(4,1) c(1,3)
d(4,3). Find the reflection with respect to both
x&y axis.
• 1)W.R.Tx
P’= 1 4 1 =
4 1 4 1 4
1 1 3 3 -1 -1 -3 -3
1 1 1 1 1 1 1 1
Reflection
2)W.R.Ty
P’= 1 4 1 4 = -1 -4 -1 - 4
1 1 3 3 1 1 3 3
1 1 1 1 1 1 1 1
=
• The ‘a’ pt coordinates after reflection
3 3
• (x’,y’,1)= 4 = -4
1 1
Reflection
• So
x X+Shx*y
Hx= y = y
1 1
Shearing
• Shearing in the Y-direction:
Here shearing is done by sliding along vertical
or y-axis.
x X
Hy= y = y +Shy*x
1 1
Shearing
• Shearing in X-Y directions: Here layers will be
slided in both x as well as y direction. The
sliding will be in horizontal as well as vertical
direction. The shape of the object will be
distorted. The matrix of shear in both
directions is given by:
Shearing
• Example : A square a,b,c,d is given , the
coordinates are given as a(0,0) b(3,0) c(3,3)
d(0,3). Find the square after shearing by 2
units along y-axis.
Shearing
• Example : A square a,b,c,d is given , the
coordinates are given as a(0,0) b(3,0) c(3,3)
d(0,3). Find the square after shearing by 2
units along y-axis.
• P’=
0 3 3 0
1
2
0
0
1
0
0
0
1
0 0 3 3 = 0
0
3
6
3
9 3
0
1 1 1 1 1 1 1 1
Composite Transformation
• Ex: T1(tx1,ty1)
T2(tx2,ty2) applied on P
P’=T2(tx2,ty2).{T1(tx1,ty1).p}
P’’= T2(tx2,ty2).p’
P’={T2(tx2,ty2).T1(tx1,ty1)}.p
composite matrix
1
0
0
1
tx2
ty2
1
0
0
1
tx1
ty1 = 0
1 0
1
tx1+tx2
ty1+ty2
0 0 1 0 0 1 0 0 1
Composite Transformation
P’=[Translation].[Rotate].[ReversT].p
Composite Transformation
• P’= [Translation].[Rotate].[ReversT]
1 0 Xr cos -sin 0 1 0 -xr
0
0 1
0
yr
1
sin
0
cos
0
0
1
0
0
1
0
-yr
1
.P
translate to point counter clockwise Rotation back to origin
Composite Transformation
Sx 0 0 1 0 0
2.Scale 2 – y axis 0 sy 0 0 2 0
0 0 1 0 0 1
3.T 4*4 1
0
0
1
tx
ty
1
0
0
1
4
4
0 0 1 0 0 1
Composite Transformation
•
-1 0 0
Reflection= 0 -1 0
0 0 1
• Rotation=
Rotation 60o
CCW
• Relative Scaling:
1) Translate object to D-distance between
reference point &origin.
2) Scale
3) Reverse translate
Tm=[T].[S].[RevT]
Note: Uniform scaling Sx=Sy
• Ex: let a(1,1) b(3,1) c(2,2) triangle, scale it
uniformly by 2 units with reference a as pivot
point.
• Ex: let a(1,1) b(3,1) c(2,2) triangle, scale it
uniformly by 2 units with reference a as pivot
point.
1) Reverse Translate Tx=-1 Ty=-1 to origin point
2) Scale Sx=2;Sy=2.
3) Translate back Tx=1;Ty=1
So P’=[T].[Sxy].[T Reverse ].P
Examples
Ex1: let square a(2,2) B(3,2) C(3,4) D(2,4)
A) Find the coordinates of square after Rotating
300 then shearing in the y-axis by 3 units.
B) Then find the coordinates after shearing 3
units y-axis then Rotating 300.
Examples
A) P’=[Sy].[RO].P
cos 30 -sin 30 0
1 0 0
P’= 3
0
1
0
0
1
. sin 30 cos 30 0
0 0 1
.P
B) P’=[RO]. [Sy].P
cos 30 -sin 30 0
P’= sin 30 cos 30 0 . 1
3
0
1
0
0 .P
0 0 1 0 0 1
Examples
EX2: Let square A(1,1) B(3,1) C(3,2) D(1,2)
Find the transformation matrix for Rotating
the square 450 CCW around D.
Step1: translate to original
Step2:Rotate
Step3:back translation
P’=TXY .R(450).TXYR .P
Step3 Step2 Step1
Examples
• P’=TXY .R(450).TXYR .P
cos 45 -sin 45 0
1 0 1 1 0 -1
0 1 2 sin 45 cos 45 0 0 1 -2
0 0 1 0 0 1 0 0 1
Examples
Ex3: Find the values of triangle A(4,4) and B(4,1)
C(7,1) after scaling along x-axis by 3 units and 1
unit to y-axis then reflecting it with respect to y-
axis.
P’=[Re].[S].P
P’= -1
0 1
0
0
0 3
0
0
1
0
0
4
4
4
1
7
1
0 0 1 0 0 1 1 1 1
p’= -3
0 1
0 0
0
4
4
4
1
7
1
0 0 1 1 1 1
Examples
Ex4: Find the transformation Matrix required for
scaling by 4 units in x-axis & 3 units in y-axis
,then rotating about centre point by 300
counter clock wise of square A(2,2) B(4,2)
C(4,4) D(2,4).
• ps
8 16 16 8
6 6 12 12
1 1 1 1
• P’= 1
0
0
1
12
9
cos 30 sin 30 0
-sin 30 cos 30 0
1
0
0
1
-12
-9
8 16
6 6
16
12 12
8
0 0 1 0 0 1 0 0 1 1 1 1 1
Examples
• Find the values of Triangle A(1,1) B(1,3) C(2,1)
after scaling two units in x-axis relative to C.
P’= 1
0
0
0
2
1
2
0
0
0
0
0
1
0
0
1
-2
-1 .P
0 0 1 0 0 1 0 0 1
3D Transformation
• The three-dimensional transformations are
extensions of two-dimensional transformation. In
2D two coordinates are used, i.e., x and y whereas
in 3D three co-ordinates x, y, and z are used.
• For three dimensional images and objects, three-
dimensional transformations are needed. These are
translations, scaling, and rotation. These are also
called as basic transformations are represented
using matrix. More complex transformations are
handled using matrix in 3D.
3D Transformation
• P= x
y
Z
1
3D Transformation
• Translation
It is the movement of an object from one
position to another position. Translation is
done using translation vectors. There are
three vectors in 3D instead of two.
Translation in the x-direction is represented
using Tx. The translation is y-direction is
represented using Ty. The translation in the z-
direction is represented using Tz.
Translation
• If P is a point having co-ordinates in three
directions (x, y, z) is translated, then after
translation its coordinates will be (x1 y1 z1)
after translation. Tx Ty Tz are translation
vectors in x, y, and z directions respectively.
x1=x+ Tx
y1=y+Ty
z1=z+ Tz
Translation
• Matrix for translation
1 0 0 3 1 1 4 4
0 1 0 2 1 2 2 4
0 0 1 4 1 2 1 4
0 0 0 1 1 1 1 1
Scaling
• P’=
Scaling
• Scaling of the object relative to a fixed point
Following are steps performed when scaling of
objects with fixed point (a, b, c). It can be
represented as below:
1. Translate fixed point to the origin
2. Scale the object relative to the origin
3. Translate object back to its original position.
Scaling
• Ex: point(3,6,5) x-axis=2;y-axis=1;z-axis=4.
3 6
2 0 0 0
• P’= 0
0
1
0
0
4
0
0
6
5 = 6
20
0 0 0 1 1 1
Reflection
• Reflection W.R.T xy plain (Rexy)
P’= Rexy .P
1 0 0 0
P’= 0
0
1
0
0
-1
0
0
0 0 0 1
1 0 0 0
P’= 0
0
-1
0 1
0
0
0
0 0 0 1
Reflection
• Example: let point A(3,4,6) B(2,4,8) find the
reflection of these point W.R.T xy plain.
3 2 3 2
1 0 0 0
P’= 0
0
1
0
0
-1
0
0
4 4
6 8
= 4 4
-6 -8
0 0 0 1 1 1 1 1
Shearing
x
• Shx= = Y+ax
Z+bx
1
x+ay
• Shy= = Y
Z+by
1
Shearing
• Ex: apply on point (4,4,4) shearing by 2 units
in y direction over the xz plain & 3 units over
the xy plain.
4 12
• P’=
1 2 0 0
0
0
1
3
0
1
0
0
4
4
= 4
16
0 0 0 1 1 1
Rotation
Rz
• X’=xcos-ysin
• Y’=xsin -ycos
• Z’=Z
Rotation
Rx
• y’=ycos-zsin
• z’=ysin -zcos
• x’=x
Rotation
Ry
• z’=zcos-xsin
• x’=zsin -xcos
• y’=y
Rotation
• Let plain A(1,1,4) b(4,1,4) d(4,4,4) d(1,4,4)
Rotate the square 600 around the line passing
from r(5,5,1) to f(5,5,3)
1 0 0 -5 1 0 0 5 1 4 4 1
0 1 0 -5 0 1 0 5 1 1 4 4
0 0 1 0 0 0 1 0 4 4 4 4
0 0 0 1 0 0 0 1 0 0 0 1