Computer Graphics

MSIT

3rd Miniterm, Nov-Dec 2004

Instructor: Kiran Varanasi

kiran@students.iiit.net

Lecture Slides: Prof P.J. Narayanan

IIIT - Hyderabad
Week 1
2D
Transformations3D
Transformations

Graphics Pipeline
Coordinates
� A point is represented by a pair of realnumbers (x, y)
� There are two axes which serve as a
reference for measuring distance of each
point from the origin
� Conventionally the X and Y axes are
perpendicular to each other. But need notbe.
� The coordinates give the length ofprojections of the point onto the two axes
Coordinate Geometry
� The coordinates of the
point depend upon thelocation of the origin andYthe direction of the axes
� Coordinates change not
only when the point movesto a new position, but also
y

when there is a change in

the origin/axes

O x

X
P
Types of Transformation
� Translation
� Rotation
� Scaling
� Shearing
In each case, it can be either the point
or the reference (origin + axes)
Translation of a point
� Translate the pointby (a, b) Y
�(x + a, y +b) arethe y'
coordinates of the b
new point in the old y
(same) coordinate
system.
p' = p + t

X
P
x
P'
x'
a
a b
Translation of Axes
� Translate the axes by
Y

(-a, -b).

Y'

� New coordinates are

(x + a, y+ b).
y

�(x + a, y + b) are the

y'

coordinates of the same

point in new coordinate
system.

X'

x'

a
p' = p + t
Transformations in reverse
� Translating the axes by (a, b) is the
same as translating each point by (-a,
-b)
� Similarly scaling the axes (zooming in)
is the same as zooming out of each
point
� Rotating the axes by an angle .
is the
same as rotating each point by thereverse angle -..
Coordinates under Scaling
�x' = s x,y' = s y.
� s is the scale factor.
Y

� Point undergoes shift whenscaling with respect to theorigin!

� To scale shapes �in place�,
translate to origin, scale,
and translate back.
p' = s p

X
Rotation of a point about Origin
Y x= rcos a, y = r
sin a

y'

x' =r cos (a+ q) =

cos q- r sin a sin
y y'=rsin (a+ q) =
r sin a cos q+ r cos a sin

q
P'
x'
P
a
r cos a
q

q
r
Rotation: Matrix Notation
Y

R(q )

y'

x' cos q -sin q x

=

y' sin q cos q y

xx

NewCoords = Matrix * OldCoord

p' = M p

q
P'
'
P
a
Rotation of Coordinate Axes
x' = r cos (a -q )=

'

r cos a cos q + r sin a sin q

= r sin (a -q ) =
- r cos a sin q + r sin a cos q
'

y' x'
q
Xy y'P
P
a
Y
R(-q )

x x' cos q sin q x

=

y' -sin q cos q y

Opposite Rotation of Axes
Y

Y'
y'
q
P
x' = r cos a
X
xy
a
cos q -r sin a sin q
y' = r cos a sin q + r sin a cos q

R(q )

X'

x'

x' cos q -sin q

y' sin q cos q y

Equivalent Matrices
X'
Y'
y'
x'
q
P
X
Y
x
y
a
cos q -sin q
cos qsin q
x
y
x'
y' =
X
Y
q
P' y'
x'
P
a
x
y
Multiple Transformations
� Translation followed by rotation of a point
p. = R(p + t)

� Rotation followed by translation of a point

p. = t + Rp

They are not identical

� Rotation followed by translation followed by

scaling
p. = s(t + Rp)

Cumbersome jumble of additions andmultiplications !!

Homogeneous Coordinates
� Represent 2D coordinates using 3-vectors.
� The last number w is sort of a �scaling
constant.�
� Multiple representations for each point.
Multiplying x, y, and w by a non-zero k doesn�t
change the point.
x x/w
y y/w

p =

w
Transformations: Uniform Form
x
y
w
1
0
0
x/w
y/w
1
cos q
sin q
0
0
0
1
a
b
1
s
0
0
0
0
1
Shearing Transformation
�Add partof X to Y
and vice versa!
� Squares turn into
parallelograms!
� May be applied in
one direction only.
1 shx 0
shy 1 0
0 01
Transformations: Uniform Form
x x/w cos q -sin q 0
y y/w R(q ) = sin q cos q

p =
=

0 01

1 shx 0

10a s00

Sh = shy1 0

T = 0 1b S = 0 s0
001 001 001

p' = M1 M2 M3 p
3 Equivalent Viewpoints
p' = M p
Point p gets transformed by M and stays
in the same coordinate frame as p'

Coordinate frame changes by M-1 giving a

stationary point p new coordinates as p'

Coordinate frame changes by M giving astationary point p' new coordinates as

p !!
Why do we want to transform a
coordinate frame ??

� Sometimes we want to think in terms of a

reference frame which is natural to the
problem
� For example, consider a wheel which isrolling on the ground
� There can be 3 coordinate frames. One
fixed to the ground, the second fixed to the
wheel but not rotating, the third fixed tothe spokes of the wheel and rotating.
Rolling Wheel
q
X
Y X'
Y'
P
l
m
X''
Y'' l
P'' = (-k, 0)

P' = (k cos q , -k sin q )

P = (l + k cos q , m - k sin q )

L = R q , q = w t

m
If P starts to move

q
X
Y X'
Y'
P
l
m
X''
Y'' l
P' = R(180 -q ) P''

P = T(l,m)P'
= T(l,m)R(180 -q )P''

P'' = (-k - vt, 0)

We have to think of P in the X''-Y'' frame only.

Composite Operations
P' = M1M2M3M4 P

� Can think of transforming the coordinateframe by M1 followed by M2.

� Point P is transformed by M4 followed by M3
and comes into the above coord frame.
� Take Care: Once M1 is applied, the definition
of X and Y axes are modified. Old axes are
forgotten!
Example 1

� Rotation by q
about a point (a, b)
� T(a, b) R(q ) T(-a, Y
-b)
� Object brought toorigin, rotated andmoved back.
X
a
b
Example 1b

Rotation by q about a
point (a, b)

� T(a, b) R(q ) T(-a, -b)

� Coordinate frame
moved to (a, b),
rotated about new
origin and moved to(-a, -b) of the newframe.
XYabX
Y
a
b
Example 1c
XYabX
Y
a
b
Example 2

In place scaling and

rotation :

T(v) R(q ) S(sx,sy) T(v)

Rotations: Another View
Y

cos q -sin q

sin q cos q

are unit vectors to which X

and Y axes move

cos q sin q

cos q -sin q 0

-sin q cos q

R(q ) = sin q cos q

0 are unit vectors which

0 01

move to X and Y axes

Making Rotation Matrices
� Columns give the vectors to which
the axes will move after rotation.
� Rows give the vectors (beforerotation) that will sit on the axesafter rotation.
� This is alternate way to arrive at the
rotation matrix from what is known.
Example 3
� Given a triangle (0, 0),
(a, b), and (c, d), how to
align the side with the Yaxis?
� [a' b']T should sit on Y
axis. Orthogonaldirection is [-b' a']T.
� They form the rows!
(a, b)
(c, d)
0 0
a' b' 0
1
-b'a' 0
Summary
� Rotations, translation, scaling, shearingrepresented using a 3x3 matrix.
� Composite transformations obtained bymultiplying matrices together.
� Transforming a point Vs. transforming the
coordinate frame. (Doing it in reverse)
� Understand well. Very important in 3D !