MM428 CAD/CAM

Dr. Rashid Ali

Fall 2019
Geometric Transformation
Ref: Zeid (Chap – 12)
Lecture #: 16

GHULAM ISHAQ KHAN INSTITUTE OF ENGINEERING

SCIENCES & TECHNOLOGY

FACULTY OF MATERIAL & CHEMICAL ENGINEERING

 Introduction
 Geometric transformations play a central role in geometric
modeling and viewing.

 They are used in viewing to generate different views of a model

for visualization and drafting purposes.

 Typical CAD operations to translate, rotate, zoom and mirror

entities are all based on geometric transformations.

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 Introduction
 Geometric transformation move points in space from one location
to another.

 The simplest motion is the rigid-body motion in which the relative

distances b/w modeling points remain constant, i.e. geometric
model does not deform during the motion also referred to as
rigid body transformation.

 Matrix notation provides a very easy way to develop and

implement geometric transformation in CAD system.

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 Formulation (Generic Procedure)
 Point P undergoes transformation, to find the new position P* of
the point, we have

Characteristics of above Eq.

 A given set of transformation must only yield one and only one
new point for each old point.

 Combination of transformation is concatenation.

 Concatenate means chains of series.

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 Formulation (Generic Procedure)
 To implement it in CAD software, it is desirable to express the
previous eq. in matrix notation

P* = [T] P

 Where [T] is the transformation matrix. Its element are functions

of the transformation parameters.

 Example: To transform a straight line, its two ends are

transformed and then connected to get the transformed line.

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 Translation
 Translating a model means that all of its points move an equal
distance in a given direction.

 Translation can be specified by a vector, a unit vector and a

distance, or two points that denote the initial and final positions of
the model to be translated.
Translation takes the form:
P* = P + d
In scalar form:
x* = x + xd
y* = y + yd
z* = z + zd 6
 Translation
 It preserves the original length.

 Every entity of geometric model remains parallel to its initial

position.

 It does not change its tangent vector at any point.

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Translation

Translation is commutative

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 Rotation
 Consider the rotation of a point P at an angle of θ about z-axis.

 The final position of P after rotation is shown as P*

x*  r cos     r cos  cos   r sin  sin 

y*  r sin      r sin  cos   r cos  sin 
z*  z
where r = |P| = |P*| as it is rigid body
transformation

we have x = r cos  y = r sin 

x*  x cos   y sin 
y*  x sin   y cos 
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z*  z
In rotation original angle is preserved and rotation take place around circumference
of circle.
 Rotation
 In matrix form:

P* = [Rz] P (for rotation about z-axis)

Similarly…

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 Rotation is rigid body transformation
 Line segment AB shown below has length of 2 inches. Draw its
image, A/ B/ after a counter clockwise rotation of 60° about O.

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Parametric Equation of Circle

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Rotation

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 Rotation about Y axis
 Consider the rotation of a point P at an angle of θ about y-axis.

 The final position of P after rotation is shown as P*

z*  r cos     r cos  cos  r sin  sin 

x*  r sin      r sin  cos  r cos  sin 
y*  y z

where r = |P| = |P*|

we have z = r cos  x = r sin 

z*  z cos   x sin 
x*  x cos   z sin 
y*  y 14
 Rotation about X axis
 Consider the rotation of a point P at an angle of θ about y-axis.

 The final position of P after rotation is shown as P*

y*  r cos     r cos  cos   r sin  sin 

z*  r sin      r sin  cos   r cos  sin 
x*  x z

where r = |P| = |P*|

we have y = r cos  z = r sin 

z*  y cos   z sin 
x*  z cos   y sin 
y*  y 15
 Scaling

 The scaling can be applied to polygon by multiplying the

coordinate (x,y) value of each vertex by scaling factor Sx and Sy
to produce coordinate (x/, y/)

 In scaling, lengths are not preserved. However angle are

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preserved. What is transformation in which angle are not
preserved?
 Reflection
 Given any point A and a line m not through A, a reflection of A in m
produces its image point A'. The line segment AA' is perpendicular to m
and bisected by it.

1. If a line is parallel to the axis of reflection, then so is its image. Similarly,

if a line is perpendicular to the axis of reflection, then so is its image, and
the line and image are collinear.
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2. A reflection is isometric, preserving distance, angle, parallelness,
perpendicularity, between, and midpoints.
 Reflection
 Reflection about x-axis.

  / /   / /

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 Homogeneous Coordinates
 All transformation can be represented in matrix form.

 Translation is additive however rotation and scaling are

multiplicative which makes the operations complicated.

 Adding another dimension to transformation make the translation

also representable by multiplication.

 In homogenous coordinates, all transformation can be written as

matrix multiplication.

 Each cartesian coordinate position (x, y) with the homogenous

coordinates (x*, y*,h).
x = x*/h ; y = y*/h
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x.h= x* ; y.h = y*
 h is non-zero, if h =1 then homogenous coordinates (x,y,1)
 Homogeneous Coordinates
 For translation:
In scalar form:
x / = x + tx
y / = y + ty
 For rotation:

x  x cos   y sin 
y  x sin   y cos 

 For scaling:

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Example

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 Example
A homogeneous coordinate point P[3,2,1] is translated in x,y an z direction by -2,
-2 and -2 units respectively followed by successive rotation of 60° about X-axis.
Find the final position of homogenous coordinate.

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