HCMUT 3D Geometric Transformations

Ho Chi Minh City University of Technology
Faculty of Mechanical Engineering
GEOMETRIC MODELING AND

SIMULATION
Chapter 03
CÁC PHÉP BIẾN ĐỔI HÌNH HỌC 3D

3D GEOMETRIC TRANSFORMATIONS
 Thân Trọng Khánh Đạt

20 September 2022
GEOMETRIC TRANSFORMATION
1. Introduction
2. 2D transformation
• Translation
• Scaling
• Rotating
• Reflection
• Shearing
2. 3D transformation
• Translation
• Scaling
• Rotating
• Reflection/Plane symmetry
C03. 3D Geometric Transformations 2/30 Geo. Model. & Sim. - T.T.K. DAT
Introduction to 3D Transformations (1)
▪ The geometric transformations play a vital role in
generating images of three-dimensional objects with
the help of these transformations.
▪ The location of objects relative to others can be easily
expressed.
▪ Sometimes viewpoint changes rapidly, or sometimes
objects move in relation to each other.
▪ This number of transformations can be carried out
repeatedly.
▪ 3D COORDINATE
▪ Understanding left- or right-handed coordinate systems
Left-handed coordinates Right-handed coordinates
Right-hand rule for curve orientation
Represent three-dimensional coordinates
▪ Cartesian coordinate system
▪ Point
𝑃 𝑝 = 𝑥1 𝑦1 𝑧1
▪ Line
𝑥1 𝑦1 𝑧1
𝑃 𝑙𝑖𝑛𝑒 = 𝑥 𝑦2 𝑧2
2
▪ Triangle
𝑥1 𝑦1 𝑧1 Tree-dimensional
𝑃 𝑡𝑟𝑖𝑎𝑛𝑔𝑙𝑒 = 𝑥2 𝑦2 𝑧2 coordinates of Tetrahedral
𝑥3 𝑦3 𝑧3
▪ Homogeneous coordinate system
▪ Triangle 0 0 0 1
𝑥1 𝑦1 𝑧1 1 𝑥 0 0 1
𝑃 𝑇𝑒𝑡𝑟𝑎ℎ𝑒𝑑𝑟𝑎𝑙 = 𝐵
𝑃 𝑡𝑟𝑖𝑎𝑛𝑔𝑙𝑒 = 𝑥2 𝑦2 𝑧2 1 0 𝑦𝐶 0 1
𝑥3 𝑦3 𝑦3 1 0 0 𝑧𝐷 1
3D Transformations - Translation
𝑥 ∗ = 𝑥 + 𝑇𝑥
▪ Translation of point: ൞𝑦 ∗ = 𝑦 + 𝑇𝑦
𝑧 ∗ = 𝑧 + 𝑇𝑧
1 0 0 0
0 1 0 0
▪ Translation Matrix: 𝑇 𝑇 = 0 0 1 0
𝑇𝑋 𝑇𝑌 𝑇𝑍 1
▪ Matrix form of point after translation: 𝑃∗ = 𝑃 𝑇 𝑇
1 0 0 0
∗ ∗ ∗ 0 1 0 0
𝑥 𝑦 𝑧 1 = 𝑥 𝑦 𝑧 1
0 0 1 0
𝑇𝑋 𝑇𝑌 𝑇𝑍 1
Example 3.1
Let a tetrahedral with vertices have coordinates

A(0,0.0) B(3,0,0), C(0,2,0) and D(0,0,1). Determine the
coordinates of the tetrahedral vertices after the
translation with T𝑥 = T𝑦 = 3, Tz = 1
3D Transformations - Scaling
Scaling about Origin
▪ Expression form
𝑥 ∗ = 𝑥𝑆𝑥
𝑦 ∗ = 𝑦𝑆𝑦
𝑧 ∗ = 𝑧𝑆𝑧
▪ Matrix form:
𝑃∗ = 𝑃 𝑇 𝑆𝑂
𝑆𝑋 0 0 0
𝑥∗ 𝑦∗ 𝑧∗ 1 = 𝑥 𝑦 𝑧 1 0 𝑆𝑌 0 0
0 0 𝑆𝑍 0
0 0 0 1
Scaling about an arbitrary point
▪ Step 1: Translate point (x, y, z) to origin with [T]T
▪ Step 2: Scale about the origin [T]SO
▪ Step 3: Translation back to its original position [T]T -1
▪ Scale matrix: 𝑇 𝑆 = 𝑇 𝑇 𝑇 𝑆𝑂 𝑇 −1 𝑇
𝑥∗ 𝑦∗ 𝑧∗ 1 = 𝑥 𝑦 𝑧 1 𝑇 𝑆
= 𝑥 𝑦 𝑧 1 𝑇 𝑇 𝑇 𝑆𝑂 𝑇 −1
𝑇
Scaling about an arbitrary point
Example 3.2
Let a tetrahedral with vertices have coordinates A(0,0.0)

B(3,0,0), C(0,2,0) and D(0,0,1). Determine the coordinates of the
tetrahedral vertices after the scale with S𝑥 = S𝑦 = 3, Sz =0.5:
a) About the origin A
b) About the point B
3D Transformations - Rotation
Rotate about Z-axis
▪ Expression form:
𝑥 ∗ = 𝑥 ⋅ cos𝜃 − 𝑦 ⋅ sin𝜃
𝑦 ∗ = 𝑥 ⋅ sin𝜃 + 𝑦 ⋅ cos𝜃
𝑧∗ = 𝑧
▪ Matrix form (CCW):
𝑃∗ = 𝑃 𝑇 𝜃𝑅𝑍
cos𝜃 sin𝜃 0 0
−sin𝜃 cos𝜃 0 0
𝑇 𝜃𝑅𝑍 =
0 0 1 0
0 0 0 1
Rotate about Y-axis
𝑥 ∗ = 𝑥 ⋅ cos𝜃 + 𝑧 ⋅ sin𝜃
𝑦∗ = 𝑦
𝑧 ∗ = −𝑥 ⋅ sin𝜃 + 𝑧 ⋅ cos𝜃
𝑃∗ = 𝑃 𝑇 𝜃𝑅𝑌
cos𝜃 0 −sin𝜃 0
𝜃 0 1 0 0
𝑇 𝑅𝑌 =
sin𝜃 0 cos𝜃 0
0 0 0 1
Rotate about X-axis
𝑥∗ = 𝑥
𝑦 = 𝑦 ⋅ cos𝜃 − 𝑧 ⋅ sin𝜃
𝑧 ∗ = 𝑦 ⋅ sin𝜃 + 𝑧 ⋅ cos𝜃
𝑃∗ = 𝑃 𝑇 𝜃𝑅𝑋
1 0 0 0
𝜃 0 cos𝜃 sin𝜃 0
𝑇 𝑅𝑋 =
0 −sin𝜃 cos𝜃 0
0 0 0 1
Rotation Matrix about axis
CCW CW
Rotation about an arbitrary axis
The point (x, y, z) is to be rotated
▪ The (xc yc zc) is a point about which counterclockwise
rotation is done
▪ Translate the object to the origin
▪ Rotate object so that axis of object coincide with any of
coordinate axis.
▪ Perform rotation about co-ordinate axis with whom
coinciding is done.
▪ Apply inverse rotation to bring rotation back to the original
position.
3D rotate about line OP
Example 3.3
Let triangle ABC with the coordinates of vertices A (0,

0), B (1, 3), C (-2, 2) as shown in Figure 1. Find the
coordinates of vertex B after a 90 degree CCW
rotation about AC.
Exercise 3.1
Let a tetrahedral with vertices have coordinates A(0,0.0) B(3,0,0), C(0,2,0)

and D(0,0,1).
Determine the coordinates of the tetrahedral vertices after the rotate:
a) About the line BA with 90° CCW
b) About the CM, M is middle of BD with 90° CCW
QUESTION & ANSWER

HCMUT 3D Geometric Transformations

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Ho Chi Minh City University of Technology

Faculty of Mechanical Engineering

GEOMETRIC MODELING AND

CÁC PHÉP BIẾN ĐỔI HÌNH HỌC 3D

 Thân Trọng Khánh Đạt

Left-handed coordinates Right-handed coordinates

Right-hand rule for curve orientation

Let a tetrahedral with vertices have coordinates

Let a tetrahedral with vertices have coordinates A(0,0.0)

Let triangle ABC with the coordinates of vertices A (0,

Let a tetrahedral with vertices have coordinates A(0,0.0) B(3,0,0), C(0,2,0)

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