Escuela Profesional de

Ciencia de la Computación

ICC Fase 1

Computer graphics
Mathematical Foundations

MSc. Vicente Machaca Arceda

Universidad Nacional de San Agustín de Arequipa

May 12, 2021

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 Overview

1 Vectors
Definition
Dot product
Cross product
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 Vectors Definition

Table of Contents

1 Vectors
Definition
Dot product
Cross product
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 Vectors Definition

Vectors
Vectors specify a magnitude and direction. In 3D graphics,
vectors are represented as a point in space. The vector is the
distance and direction from the origin to that point.
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Figure: Vector representation in computer graphics. Source: [1]

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 Vectors Definition

Vectors
Vector V (shown in red) can be specified either as the difference
between points P1 and P2, or as an equivalent distance from
the origin to P3. In all of our applications, we specify V as
simply (x,y,z)
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Figure: Vector representation in computer graphics. Source: [1]

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 Vectors Definition

vector operations

Addition and Subtraction

~ ±B
A ~ = (u ± x, v ± y , w ± z)

glm: vec3 ± vec3

GLSL: vec3 ± vec3

Normalize (change to length=1)

~
A ~
A
 = =
~
|A| sqrt(u + v 2 + w 2 )
2

~ = lenght of A
where |A| ~
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glm: normalize(vec3) or normalize(vec4)

GLSL: normalize(vec3) or normalize(vec4)

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 Vectors Definition

vector operations

Dot Product
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 Vectors Definition

vector operations

Dot Product
~ •B
A ~ = ux + vy + wz

glm: dot(vec3,vec3) or dot(vec4,vec4)

GLSL: dot(vec3,vec3) or dot(vec4,vec4)

Cross Product
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 Vectors Definition

vector operations

Dot Product
~ •B
A ~ = ux + vy + wz

glm: dot(vec3,vec3) or dot(vec4,vec4)

GLSL: dot(vec3,vec3) or dot(vec4,vec4)

Cross Product
~ ×B
A ~ = (vz − wy , wx − uz, uy − vx)

glm: cross(vec3,vec3)
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GLSL: cross(vec3,vec3)

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 Vectors Dot product

Table of Contents

1 Vectors
Definition
Dot product
Cross product

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 Vectors Dot product

Dot product
Explanation

V~ •W ~
cos(θ) =
~ | ∗ |W
|V ~|

~ and W
Therefore, if V ~ are
normalized (i.e., of unit length,
here we use the notation for
~ •W
V ~ = |V
~ | ∗ |W
~ | ∗ cos(θ) normalization: V̂ and Ŵ . then:

cos(θ) = V̂ • Ŵ
θ = arcos(V̂ • Ŵ )

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 Vectors Dot product

Dot product
Application

Uses Formula

Vector magnitude

Two vectors are perpendicular if ?

Two vectors are parallel if ?

Two vectors are parallel but pointing in

opposite direction if ?

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 Vectors Dot product

Dot product
Application

Uses Formula
p
Vector magnitude ~ •W
V ~

Two vectors are perpendicular if ? ~ •W

V ~ =0

Two vectors are parallel if ? ~ •W

V ~ = |V
~ | ∗ |W
~|

~ •W
Two vectors are parallel but pointing in V ~ = −|V
~ | ∗ |W
~|
opposite direction if ?

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 Vectors Cross product

Table of Contents

1 Vectors
Definition
Dot product
Cross product

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 Vectors Cross product

Cross product
Explanation

~ ×W
V ~ = |V
~ | ∗ |W
~ | ∗ sin(θ) ∗ n

~
θ is the angle between V
and W ~
n is a unit vector
perpendicular to V ~ and W
~

~ is perpendicular (normal) to
R Moreover,
~ and W
V ~ , with a direction
given by the right-hand rule. ~ ×W
V ~ = −(W
~ ×V
~)

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 Vectors Cross product

Cross product
Explanation

The ability to find normal

vectors by using the cross
product will become extremely
useful when we study lighting.

~ =V
P ~2 − V
~1
~ ~ ~1
Q = V3 − V
Figure: Computing outward ~ ~
N =P ×Q ~
normals.

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 Vectors Cross product

References I

V. S. Gordon and J. L. Clevenger, Computer Graphics

Programming in OpenGL with C++. Stylus Publishing,
LLC, 2020.

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 Vectors Cross product

Questions?

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