Académique Documents
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Mathematics for
Computer Graphics
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Contents
Complex Numbers
CGVR
Quaternions
Definition
Addition, scalar multiplication, multiplication, division,
and inverse
3D Rotations
Nonparametric Representations
Parametric Representations
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Complex Numbers
CGVR
z x, y
x Re z ,
y Imz
Scalar Multiplication
Multiplication
z x iy
imaginary
axis
x1 , y1 x2 , y2 x1 x2 , y1 y2
real axis
k x1 , y1 kx1 , ky1
x1 , y1 x2 , y2 x1 x2 y1 y2 , x1 y2 x2 y1
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Imaginary Unit: i 0, 1
i 2 0, 10, 1 1, 0
i 1
Complex Conjugate
z x iy
CGVR
z x iy
z zz x 2 y 2
Division
z1 z1 z2 x1 , y1 x2 , y2 x1 x2 y1 y2 x2 y1 x1 y2
2
,
2
2
2
2
2
z2 z2 z2
x2 y2
x2 y2
x2 y2
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z r cos i sin
Eulers Formula
ei cos i sin
z re i
CGVR
imaginary
axis
z=(x, y)
real axis
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i sin
, k 0, 1, 2, , n 1
Quaternions
CGVR
q s ia jb kc
Properties: i 2 j 2 k 2 1
ij ji k
jk kj i
ki ik j
q1 q2 s1 s2 ia1 a2 j b1 b2 k c1 c2
dq1 s1d ia1d jb1d kc1d
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Ordered-Pair Notation
CGVR
q s, v
Addition: q1 q2 s1 s2 , v1 v 2
Multiplication
Magnitude
q1q2 s1s2 v1 v 2 , s1 v 2 s2 v1 v1 v 2
q s vv
Inverse
q
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s, v
qq 1 q 1q 1, 0
Graphics Lab @ Korea University
3D Rotation
CGVR
For a 3D Point (, , )
A unit quaternion q w, x, y, z its conjugate
q w, x, y, z
q 0, , , q 0, , ,
Rotating (, , ) by angle 2 about the axis
parallel to (a, b, c)
Rq p q p q
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Nonparametric Representations
Definition
Disadvantages
Advantages
CGVR
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Parametric Representations
CGVR
Pu xu , yu , z u
Ex. xu r cos2u yu r sin 2u z u 0 0 u 1
y u, v r sin u sin 2v
z u, v r cosu
0 u, v 1
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