Computer
Graphics
2D and 3D Transformations
Functions
f: x → y
f: R → R
f: R2 → R2
f: (x, y) → 2
Domain, co-domain and
Range
What can go into a function
is called the Domain
What may possibly come
out of a function is called
the Co-domain
What actually comes
out of a function is called
the Range
2D Transformation
What is transformation?
Transformation: a function that sends each
point( or vertex) A, to another point T(A)
The new object might have the same shape as
the old and new position or completely altered
What is transformation?
In general transformation means changing
some graphics on some some plane (such as 2D
or other) into something else by applying rules.
Transformation
Transformation enables to reposition of
graphics on the screen, change their size
and orientation.
Euclidean Transformation
Rigid Body Transformations.
Angles and distances are unchanged.
Translation and Rotation are types of Euclidean
Transformation.
Homogeneous Coordinates
Any cartesian point P(X,Y) can be converted to
homogeneous coordinates by P'(Xh, Yh, h)
Via homogeneous coordinates representation of affine
transformations in a linear transformation is possible
due to the extra dummy coordinate we can add.
Homogeneous Coordinates
●
Homogeneous coordinates unify translation,
rotation, and scaling in one transformation
matrix.
●
Thus , a 2D transformation matrix is a 3x3
matrix.
Homogeneous Coordinates
Types of Transformations
Translation
Scaling
Rotation
Reflection
Shearing/Skewing
Translation
Translation moves an object to a different
position on the screen.
Adding a translation coordinate (tx, ty) to the
original coordinate (X, Y) to get the new 2D
coordinate (X', Y').
2D Translation – In terms of homogeneous
coordinates representation
Inverse translation=>
Translation
Translation
The pair (tx, ty) is called the transition vector or
shift vector. It can be written as:
x' = x + tx , y' = y + ty
Matrix representation:
P' = P+T
Translation
For example, to translate a triangle with
vertices at original coordinates (2, 4), (6, 6),
(12, 4) by tx =3, ty =6, we compute as
followings: Translate vertex (2, 4):
Do the same for the other vertices.
Scaling
Scaling refers to either expanding or compressing the
dimensions of the object.
Mathematically represented as shown below:
X’ = X ∙ SX and Y’ = Y ∙ SY
2D Scaling – In terms of homogeneous
coordinates representation
Inverse scaling=>
Scaling
Scaling
Class work:
Scale a triangle with respect to the origin, with vertices at
original coordinates (10,20), (10,10), (20,10) by sx =2, sy =1.5
Reflection
Via the scaling transformation, we can perform a switch of
sides of the coordinates along an axis, by negating the scaling
factor.
Reflection
It cause a change in the ordering of the vertices.
This can seriously impact many algorithms that depend on the
correct ordering of the vertices (such as Rasterization and
shading)
Rotation
We rotate the object at particular angle theta from
its origin.
X = r cos Φ ........ (1)
Y = r sin Φ ......... (2)
Same way we can represent the point P'(X', Y') as:
X’ = r cos (Φ + θ) = r cos Φ cos θ – r sin Φ sin θ ...... (3)
Y’ = r sin (Φ + θ) = r cos Φ sin θ + r sin Φ cos θ ...... (4)
Substituting equation 1 and 2 in 3 and 4 respectively, we get
X’ = X cos θ – Y sin θ
Y’ = X sin θ + Y cos θ
Rotation
2D Rotation – In terms of homogeneous
coordinates representation
The rotation matrix
Rotation
Inverse rotation=>
Rotation
Example: rotate a triangle about the origin
with vertices at original coordinates (2, 4), (6,
6), (12, 4) by 60 degrees.
Shearing
●
There are two shear transformations X-Shear and Y-
Shear. One shifts X coordinates values and other shifts
Y coordinate values.
●
However, in both the cases, only one coordinate
changes its coordinates and other preserves its values.
●
Shearing is also termed as Skewing.
Shearing
Shearing
Example: Start with a triangle having
vertices (0, 0), (3, 0), and (3, 2). Rotate this
triangle by π∕6 radians counterclockwise
around the origin.
Example
Reflect through the y-axis
Stretch in y direction (2x)
3D Transformation
3D Transformation
Similar to their usage in 2D, homogeneous coordinates
in 3D are used for enabling representation of
transformations in matrix multiplication format.
(x, y, z, w) =>(x/w, y/w, z/w).
Right Hand System
●
Look toward origin from a positive axis.
●
A counter-clockwise rotation transforms one axis to
another.
x: y → z, y: z → x, z: x → y.
●
Some graphic systems use the left hand system.
3D Translation
3D Scaling
3D Rotation – w.r.t to z-axis
3D Rotation – w.r.t to y-axis
3D Rotation – w.r.t to x-axis
