Lec4 PDF

Transformation of points and line
2-D rotation, translation

Homogeneous coordinates
Scaling and combined transformation
Transformations in Three-Dimensions
Lec4 - Geometric Transformations
ME308 Computer Aided Design & Analysis
Arun Shal U B
Department of Mechanical Engineering
Govt. Engineering College Kozhikode
March 3, 2020
ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

Outline

Geometric Transformations
I Transformation is the backbone of computer graphics

I It enable us to maneuver an object, view it from different
angles, create multiple copies, create its reflected image,
re-shape or scale an object, position an object with respect
to the other, and much more.
I Transformations may be employed to perform rigid-body
motion wherein an object may be moved from one position to
another without altering its shape and size.
I Typical rigid body transformations involve translation,
rotation and reflection, the latter being a combination of the
first two.

I Transformations may also cause deformations like shear,

scaling and morphing wherein the object is altered in size
and/or shape.
I For special effects, free-form deformation may be used
where a geometric model is embedded inside a grid of
control points, and transformations are applied to these
control points to distort the object in a desired manner.

Figure: Use of transformation to view an object from different angles

Geometric Transformations - Coordinate frame
I An object may be treated as an assemblage of finitely many

points arranged in a non-arbitrary manner in space.
I The origin and coordinate axes may or may not be a part of
the object.
I If the coordinate frame is attached to the object, it is called
the local frame of reference.
I For coordinate frame not a part of the object, it is called
global frame.
I Usually user prefers a fixed global coordinate frame for all
objects and one local coordinate system for each object.

Geometric Transformations - Definition
Figure: Nature of geometric transformation as a function map

I A geometric transformation may be considered as a mapping

function between a set of points both in the domain and
range.
I The function needs to be one-to-one in that any and all
points in the domain (initial location) should have the
corresponding images in the range (final location).
I Thus, if T (P1 ) and T (P2 ) represent the final locations of
points P1 and P2 belonging to the object where T is a
transformation function, then,
I If P1 6= P2 , T (P1 ) 6= T (P2 )

I In addition, the transformation should be onto in that for

every final location T (P), there must exist its pre-image P
corresponding to the initial position of the object.
I Any point in the newly located object must be associated with
only one point belonging to the object in its original location.
I Thus, a one-to-one and onto map makes it possible to
perform inverse transformation, that is, to move the object
from its final to original location.

Rigid Body Transformations
I In rigid body transformations, the geometric model stays

undeformed, that is, the points constituting the model
maintain the same relative positions with respect to each
other.
I A solid model may be conceived to consist of points, curves
and surfaces which should not get distorted under a rigid-body
trans-formation.
I Rotation and translation are two transformations that can
be grouped under this category.

2-D Rotation
Consider a rigid body S packed with points Pi (i = 1, . . . , n) and let
a point Pj (xj , yj ) on S be rotated about the z-axis to Pj∗ (xj∗ , yj∗ ) by
an angle θ .
Figure: Rotation in a plane

2-D Rotation
an angle θ .
xj∗ = l cos(θ + α)
= l cos θ cos α − l sin θ sin α
xj∗ = xj cos θ − yj sin θ

2-D Rotation
an angle θ .
yj∗ = l sin(θ + α)
= l sin θ cos α + l cos θ sin α
yj∗ = xj sin θ + yj cos θ

2-D Rotation
an angle θ .
xj∗ = xj cos θ − yj sin θ

yj∗ = xj sin θ + yj cos θ
In Matrix form,
∗
xj cos θ − sin θ xj
=
yj∗ sin θ cos θ yj
Pj∗ = RPj

2-D Rotation
I
Pj∗ = RPj
I Where,
cos θ − sin θ
R=
sin θ cos θ
is the two-dimensional rotation matrix.
I Rotation matrix R is orthogonal
R T R = RR T = I =⇒ R T = R −1
I For S to be rotated by an angle θ ,transformation must be
performed simultaneously for all points Pi (i = 1, . . . , n) such
that the entire rigid body reaches the new destination S * .
2-D Rotation - Example
I A trapezoidal lamina ABCD lies in the x-y plane with A(6, 1),
B(8, 1), C(10, 4) and D(3, 4). The lamina is to be rotated
about the z-axis by 900 . Determine the new position
A∗ B ∗ C ∗ D ∗ after rotation.

 ∗ T  T
 A   A
 ∗
  
 
B cos θ − sin θ B

=

 C ∗ sin θ cos θ  C
 ∗ 
 
D D
 

cos 90 − sin 90 6 8 10 3
=
sin 90 cos 90 1 1 4 4

 ∗ T  T
 A   A
 ∗
  
 
B cos θ − sin θ B

=

 C ∗ sin θ cos θ  C
 ∗ 
 
D D
 

cos 90 − sin 90 6 8 10 3
=
sin 90 cos 90 1 1 4 4

0 −1 6 8 10 3 −1 −1 −4 −4
= =
1 0 1 1 4 4 6 8 10 3

Click here for Visualization

Translation in Two-Dimensions
I For a rigid body S to be translated along a vector v such that

each point of S shifts by (p, q),
xj∗ = xj + p, yj∗ = yj + q
xj∗

x p
= j + =⇒ Pj∗ = Pj + v
yj∗ yj q

Translation in Two-Dimensions - Example
I For a planar lamina ABCD with A(3, 5), B(2, 2),C (8, 2) and
D(4, 5) in x-y plane and P(4, 3) a pointin the interior, the
8
lamina is to be translated through v =
5

Translation in Two-Dimensions - Example
I For a planar lamina ABCD with A(3, 5), B(2, 2),C (8, 2) and
D(4, 5) in x-y plane and P(4, 3) a pointin the interior, the
8
lamina is to be translated through v =
5
 ∗ T  T  T  T
 A  3 5 8 5 11 10
∗
       
B 2 2 8 5 10 7 

  
  
  
 
    
C ∗ = 8 2 + 8 5 = 16 7

D ∗ 
4 5
 
8 5
 
12 10


 
 
 
 
 
 
 

P∗ 4 3 8 5 12 8
       

I Translation as described earlier is a matrix addition

operation while rotation is matrix multiplication.
I Homogeneous coordinates are introduced to represent
translation also by matrix multiplication so as to unify rigid
body transformation procedures.

I Translation as described earlier is a matrix addition

operation while rotation is matrix multiplication.
I Homogeneous coordinates are introduced to represent
translation also by matrix multiplication so as to unify rigid
body transformation procedures.
 ∗     
xj  1 0 p xj  xj + p 
y ∗ = 0 1 q  yj = yj + q
 j
1 0 0 1 1 1
   

 ∗     
xj  1 0 p xj  xj + p 
y ∗ = 0 1 q  yj = yj + q
 j
1 0 0 1 1 1
   
I The definition of position vector Pj is altered from an ordered

xj
pair in the two-dimensional space to an ordered triplet
y
  j
xj 
y which are termed as the homogeneous coordinates of
 j
1
Pj .

I Translation in terms of homogeneous coordinates can be
expressed as
Pj∗ = TPj
where,  
1 0 p
T = 0 1 q 
0 0 1
I The rotation relation can be modified as well to express the
result in terms of the homogeneous coordinates,
 ∗   
xj  cos θ − sin θ 0 xj 
Pj∗ = RPj =⇒ yj∗ =  sin θ cos θ 0 yj
1 0 0 1 1
   

Combined Rotation and Translation
I Consider a point P(x, y , 1) in the x-y plane to be rotated by

an angle θ about the z-axis to a position P1 (x1 , y1 , 1) followed
by a translation by v (p, q) to a positionP2 (x2 , y2 , 1).
    
x1  cos θ − sin θ 0 x 
P1 = RP, y1 =  sin θ cos θ 0 y
1 0 0 1 1
   
    
x2  1 0 p x1 
P2 = TP1 , y2 = 0 1 q  y1
1 0 0 1 1
   

I P2 = TRP
     
x2  1 0 p cos θ − sin θ 0 x 
y2 = 0 1 q   sin θ cos θ 0 y
1 0 0 1 0 0 1 1
   

I P2 = TRP
     
x2  1 0 p cos θ − sin θ 0 x 
y2 = 0 1 q   sin θ cos θ 0 y
1 0 0 1 0 0 1 1
   
    
x2  cos θ − sin θ p x 
y2 =  sin θ cos θ q  y
1 0 0 1 1
   

I On the contrary, if translation by v is followed by rotation

about the z-axis by an angle θ to reach P2∗ , then P2∗ = RTP
 ∗    
x2  cos θ − sin θ 0 1 0 p x 
y ∗ =  sin θ cos θ 0 0 1 q  y
 2
1 0 0 1 0 0 1 1
 

I On the contrary, if translation by v is followed by rotation

about the z-axis by an angle θ to reach P2∗ , then P2∗ = RTP
 ∗    
x2  cos θ − sin θ 0 1 0 p x 
y ∗ =  sin θ cos θ 0 0 1 q  y
 2
1 0 0 1 0 0 1 1
 
    
x2  cos θ − sin θ p cos θ − q sin θ x 
y2 =  sin θ cos θ p sin θ + q cos θ y
1 0 0 1 1
   

I From above we can arrive at two important conclusions:

I the homogeneous coordinate system helps to unify translation
and rotation as multiplicative transformations
I Transformations are not commutative.
I The sequence in which the transformations are performed is
significant and must be maintained while concatenating the
respective matrices.
I Otherwise a different orientation or position of the object is
reached.

Combined Rotation and Translation - Example
Lamina ABCD with an inner point P with coordinates (4, 3), (3,
1), (8, 1), (7, 4) and (5, 2) respectively is first rotated through 600
and then translated by (5, 4). In another sequence, the trapezoid is
first translated by (5, 4) and then rotated through 600 . Find the
positions and orientations of the lamina for the two sequence of
transformations.

Coordinate points of thelamina ABCD 

4 3 8 7 5
A B C D P = 3 1 1 4 4
1 1 1 1 1
Rotation
 matrix.   
cos 60 − sin 60 0 0.50000 −0.86603 0.00000
R =  sin 60 cos 60 0 = 0.86603 0.50000 0.00000
0 0 1 0.00000 0.00000 1.00000
 
1 0 5
Translation matrix. T = 0 1 4
0 0 1

Case - 1 :
5
Rotation through 600 followed by translation through
4
∗
A B ∗ C ∗ D ∗ P ∗ = TR A B C

D P
   
1 0 5 0.50000 −0.86603 0.00000 4 3 8 7 5
= 0 1 4 0.86603 0.50000 0.00000 3 1 1 4 4
0 0 1 0.00000 0.00000 1.00000 1 1 1 1 1

Case - 1 :
5
4
∗
A B ∗ C ∗ D ∗ P ∗ = TR A B C

D P
   
1 0 5 0.50000 −0.86603 0.00000 4 3 8 7 5
= 0 1
 4  0.86603 0.50000 0.00000 3 1 1 4 4
0 0 1 0.00000 0.00000 1.00000 1 1 1 1 1
  
1 0 5 −0.5981 0.6340 3.1340 0.0359 0.7679
= 0 1 4  4.9641 3.0981 7.4282 8.0622 5.3301
0 0 1 1.0000 1.0000 1.0000 1.0000 1.0000

Case - 1 :
5
4
∗
A B ∗ C ∗ D ∗ P ∗ = TR A B C

D P
   
1 0 5 0.50000 −0.86603 0.00000 4 3 8 7 5
= 0 1 4
  0.86603 0.50000 0.00000 3 1 1 4 4
0 0 1 0.00000 0.00000 1.00000 1 1 1 1 1
 
4.40 5.63 8.13 5.04 5.77
= 8.96 7.10 11.43
 12.06 9.33
1.00 1.00 1.00 1.00 1.00

Case - 2 :
5
Translation through followed by rotation through 600
4
0
A B 0 C 0 D 0 P 0 = RT A B C

D P
   
0.50000 −0.86603 0.00000 1 0 5 4 3 8 7 5
= 0.86603 0.50000 0.00000 0 1 4 3 1 1 4 4
0.00000 0.00000 1.00000 0 0 1 1 1 1 1 1

Case - 2 :
5
4
0
A B 0 C 0 D 0 P 0 = RT A B C

D P
   
0.50000 −0.86603 0.00000 1 0 5 4 3 8 7 5
= 0.86603 0.50000 0.00000
  0 1 4 3 1 1 4 4
0.00000 0.00000 1.00000 0 0 1 1 1 1 1 1
  
0.500 −0.866 0.000 9 8 13 12 10
= 0.866 0.500 0.000 7 5 5 8 6
0.000 0.000 1.000 1 1 1 1 1

Case - 2 :
5
4
0
A B 0 C 0 D 0 P 0 = RT A B C

D P
   
0.50000 −0.86603 0.00000 1 0 5 4 3 8 7 5
= 0.86603 0.50000 0.00000
  0 1 4 3 1 1 4 4
0.00000 0.00000 1.00000 0 0 1 1 1 1 1 1
 
−1.562 −0.330 2.170 −0.928 −0.196
= 11.294 9.428 13.758
 14.392 11.660 
1.000 1.000 1.000 1.000 1.000


Concatenated Transformations
I In practice a series of transformations may be applied to

geometric models and thus, combining or concatenating
transformations is necessary.
I Concatenated transformations are simply obtained by
multiplying the matrices of the corresponding individual
transformations.
I If we apply n transformations to a point starting with
transformation 1, with [T1 ], and ending with
transformation n, with [Tn ], the concatenated transformation
of the point is given by:
P ∗ = [Tn ][Tn−1 ] . . . [T2 ][T1 ]P

Rotation about an arbitrary point

I What happens when you apply a rotation transformation to an
object that is not at the origin?
I Solution:
I Translate the center of rotation to the origin
I Rotate the object
I Translate back to the original location
Figure: Rotation about an arbitrary point

Rotation of a Point Q(x,y,1) about a Point P(p,q,1)
Figure: Steps to rotate point Q about point P

Rotation of a Point Q(x,y,1) about a Point P(p,q,1)
Transformed coordinates of Q(x, y , 1) can be obtained as

 ∗     
x  1 0 p cos θ − sin θ 0 1 0 −p x 
y ∗ = 0 1 q   sin θ cos θ 0 0 1 −q  y
1 0 0 1 0 0 1 0 0 1 1
   

Rotation about an arbitrary point- Example
Consider the square A(1,0) B(0,0) C(0,1) D(1,1). Rotate the

square ABCD by 45 degree counterclockwise about A(1,0). Apply
rotation about arbitrary point to solve this question.

Translation
 Matrix to translate Point-A of the square to origin,
1 0 −1
T1 = 0 1 0 
0 0 1
Rotation
 Matrix   
cos 45 − sin 45 0 0.707 −0.707 0.000
R =  sin 45 cos 45 0 = 0.707 0.707 0.000
0 0 1 0.000 0.000 1.000
Translation
 Matrix
 to translate Point-A back to (1,0),
1 0 1
T2 = 0 1 0
0 0 1

coordinate points of lamina ABCD

 
1 0 0 1

A B C D = 0 0 1 1
1 1 1 1


 
1 0 0 1

A B C D = 0 0 1 1
1 1 1 1
∗
A B ∗ C ∗ D ∗ = T2 RT1 A B C

D


 
1 0 0 1

A B C D = 0 0 1 1
1 1 1 1
∗
A B ∗ C ∗ D ∗ = T2 RT1 A B C

D
   
1 0 1 0.707 −0.707 0.000 1 0 −1
= 0 1 0 0.707 0.707 0.000 0 1 0 
0 0 1 0.000 0.000 1.000 0 0 1


 
1 0 0 1

A B C D = 0 0 1 1
1 1 1 1
∗
A B ∗ C ∗ D ∗ = T2 RT1 A

B C D
 
1.000 0.293 −0.414 0.293
= 0.000 −0.707 0.000 0.707
1.000 1.000 1.000 1.000


Reflection
I In 2-D, reflection of an object can be obtained by rotating it

through 1800 about the axis of reflection.
I If an object S in the x-y plane is to be reflected about the
x-axis (y = 0), reflection of a point (x, y , 1) in S is given by
(x ∗ , y ∗ , 1), such that

Reflection
I In 2-D, reflection of an object can be obtained by rotating it

through 1800 about the axis of reflection.
I If an object S in the x-y plane is to be reflected about the
x-axis (y = 0), reflection of a point (x, y , 1) in S is given by
(x ∗ , y ∗ , 1), such that
 ∗       
x   x  1 0 0 x  x 
y ∗ = −y = 0 −1 0 y = Rfx y
1 1 0 0 1 1 1
       

Reflection
I Similarly, reflection about the y-axis is described as

 ∗       
x  −x  −1 0 0 x  x 
y∗ = y =  0 1 0 y = Rfy y
1 1 0 0 1 1 1
       

Reflection
I Consider a triangle ABC with A = (6, 1, 1), B = (8, 1, 1) and

C = (10, 4, 1). The entity is to be reflected through the
y-axis.Find the coordinates of reflected triangle.

Reflection
I Consider a triangle ABC with A = (6, 1, 1), B = (8, 1, 1) and

C = (10, 4, 1). The entity is to be reflected through the
y-axis.Find the coordinates of reflected triangle.
∗
A B ∗ C ∗ = Rfy A B C

    
−1 0 0 6 8 10 −6 −8 −10
=  0 1 0 1 1 4  =  1 1 4 
0 0 1 1 1 1 1 1 1

Reflection through a point
I A point P(x, y , 1) when reflected through the origin is written

as P ∗ (x ∗ , y ∗ , 1) = (−x, −y , 1)
 ∗       
x  −x  −1 0 0 x  x 
y ∗ = −y =  0 −1 0 y = Rfo y
1 1 0 0 1 1 1
       
I For reflection of an object about a point Pr , we would require

to shift Pr to the origin, perform the above reflection and then
transform Pr back to its original position.
P ∗ = Tor Rfo Tro P

Reflection About an Arbitrary Line
I Let D be a point on line L

and S be an object in
two-dimensional space.
I It is required to reflect S
about L.
I This reflection can be
obtained as a sequence of
transformations


1. Translate point D(p, q, 1) to coincide with the origin O,

shifting the line L parallel to itself to a translated position L∗
using TDO
2. Rotate L∗ by an angle θ such that it coincides with the y-axis
(new position of the line is L∗∗ , say) using R(θ)
3. Reflect S about the y-axis using Rfy
4. Rotate L∗∗ through −θ to bring it back to L∗ using R(−θ)
5. Translate L∗ to coincide with its original position L using TOD .
S ∗ = TOD R(−θ)Rfy R(θ)TDO S

S ∗ = TOD R(−θ)Rfy R(θ)TDO S
  
1 0 p cos θ sin θ 0
TOD R(−θ)Rfy R(θ)TDO = 0 1
 q  − sin θ cos θ 0 ×
0 0 1 0 0 1
   
−1 0 0 cos θ − sin θ 0 1 0 −p
 0 1 0  sin θ cos θ 0 0 1 −q 
0 0 1 0 0 1 0 0 1

Find the coordinates of a reflected triangle having vertices (2,4),

(4,3) and (3,7) about an arbitrary line represented by y = 2x + 2.
Plot the transformed triangle.


Solution:
Vertices of the triangle can be represented as
 
2 4 3
A B C = 4 3 7
1 1 1
From the equation y = 2x + 2, slope of the line is

tan−1 2 = 63.4350 and (0,2) is a point on the line


For the line to align with y-axis, it is to be rotated by 26.5650
(90 − 63.435) counterclockwise
Vertices of the transformed triangle:
A B ∗ C ∗ = T0,2 R(−26.560 )Rfy R(26.560 )T0,−2 A B C
∗


A B ∗ C ∗ = T0,2 R(−26.560 )Rfy R(26.560 )T0,−2 A B C
∗
   
1 0 0 cos 25.56 sin 26.56 0 −1 0 0
= 0 1 2 − sin 26.56 cos 26.56 0  0 1 0 ×
0 0 1 0 0 1 0 0 1
   
cos 26.56 − sin 26.56 0 1 0 0 2 4 3
 sin 26.56 cos 26.56 0 0 1 −2 4 3 7
0 0 1 0 0 1 1 1 1


A B ∗ C ∗ = T0,2 R(−26.560 )Rfy R(26.560 )T0,−2 A B C

∗
 
0.400 −1.600 2.200
= 4.800 5.800 7.400
1.000 1.000 1.000



Deformations
I Deformations are transformations that would alter the size

and/or shape of the object
I Examples involve scaling and shear.

Scaling
I A point P(x, y , 1) belonging to the object S can be scaled to a
new position vector P ∗ (x ∗ , y ∗ , 1) using factors µx and µy such
that x ∗ = µx x and y ∗ = µy y
I In matrix form
 ∗   
x  µx 0 0  x 
y ∗ =  0 µy 0 y = SP
1 0 0 1 1
   
I Where Sis the scaling matrix.

I Scale factors µx and µy are always non-zero and positive.
I In case of uniform scaling when µx = µy = µ , the model gets
changed uniformly in size and there is no distortion.
Scaling
I Non-uniform scaling changes the tangent vector proportionally
while the slope remains unaltered in uniform scaling for
µx = µy .
Figure: Uniform and non-uniform scaling

Shear
I Consider a matrix Shx which when applied to a point
P(x, y , 1) results in
 ∗     
x  1 shx 0 x  x + shx y 
y ∗ = 0 1 0 y = y = Shx P
1 0 0 1 1 1
     
I This, in effect shears the point along the x axis.

I Likewise, application of Shy on P yields
 ∗     
x  1 0 0 x   x 
y ∗ = shy 1 0 y = y + shy x = Shy P
1 0 0 1 1 1
     

Shear
A rectangle with coordinates (3, 1), (3, 4), (8, 4) and (8, 1),
respectively, is subjected to a shear along the y direction with a
factor shy = 1.5. Find the transformed coordinates of the rectangle.

Shear
Coordinates of the rectangle are represented as
 
3 3 8 8
A B C D = 1 4 4 1
1 1 1 1
Coordinates after shearing

  
∗ 1 0 0 3 3 8 8
A B ∗ C ∗ D ∗ = 1.5 1 0 1 4 4 1

0 0 1 1 1 1 1
Shear
Coordinates of the rectangle are represented as
 
3 3 8 8
A B C D = 1 4 4 1
1 1 1 1
Coordinates after shearing

 
∗ 3.00 3.00 8.00 8.00
A B ∗ C ∗ D ∗ = 5.50 8.50 16.00 13.00

1.00 1.00 1.00 1.00

Shear
Figure: Shear along the y direction

Combined rotation and scaling - Example
A square having coordinates (2,2), (5,2), (5,4) and (2,4) is to be

rotated about the point (2,2) in clockwise direction at an angle of
600 and after that it is scaled to 3 unit in x-direction and 2 unit in
y-direction. Find and plot the final coordinates of the geometry.

A square having coordinates (2,2), (5,2), (5,4) and (2,4) is to be

rotated about the point (2,2) in clockwise direction at an angle of
600 and after that it is scaled to 3 unit in x-direction and 2 unit in
y-direction. Find and plot the final coordinates of the geometry.
Solution:
Final coordinates of the geometry can be obtained by
 
2 5 5 2
= S(3, 2)T (2, 2)R(−600 )T (−2, −2) 2 2 4 4
1 1 1 1

 
2 5 5 2
= S(3, 2)T (2, 2)R(−600 )T (−2, −2) 2 2 4 4
1 1 1 1
    
3 0 0 1 0 2 0.500 0.866 0.000 1 0 −2
= 0 2 0 0 1 2 −0.866 0.500 0.000 0 1 −2 ×
0 0 1 0 0 1 0.000 0.000 1.000 0 0 1
 
2 5 5 2
2 2 4 4
1 1 1 1

 
2 5 5 2
= S(3, 2)T (2, 2)R(−600 )T (−2, −2) 2 2 4 4
1 1 1 1
  
1.500 2.598 −2.196 2 5 5 2
= −1.732 1.000 5.464  2 2 4 4
0.000 0.000 1.000 1 1 1 1
 
6.000 10.500 15.696 11.196
= 4.000 −1.196 0.804 6.000 
1.000 1.000 1.000 1.000

Figure: Rotation followed by scaling

Homogeneous Transformation Matrices-Review

I Rotation:  
cos θ − sin θ 0
R(θ) =  sin θ cos θ 0
0 0 1
I Translation :  
1 0 p
T (p, q) = 0 1 q 
0 0 1
I Reflection:
     
1 0 0 −1 0 0 −1 0 0
Rfx = 0 −1 0 , Rfy =  0 1 0 , RfO =  0 −1 0
0 0 1 0 0 1 0 0 1

Homogeneous Transformation Matrices-Review
I Scaling:
 
µx 0 0
S =0 µy 0
0 0 1
I Shearing:
 
1 shx 0
Sh = shy 1 0
0 0 1

Translation in Three-Dimensions
I The translation matrix to move a point and thus an object, by

a vector (p, q, r ) may be written as
 
1 0 0 p
0 1 0 q 
T = 0 0 1 r 

0 0 0 1

Rotation in Three-Dimensions
I The rotation matrix can be modified to accommodate the

three-dimensional homogenous coordinates.
I For rotation by angle θ about the z-axis (the z coordinate does
not change), we get
 
cos θ − sin θ 0 0
 sin θ cos θ 0 0
Rz =  0

0 1 0
0 0 0 1

Rotation in Three-Dimensions
I rotation matrices about the x and y-axis for angles ψ and φ

can be written as
 
1 0 0 0
0 cos ψ − sin ψ 0
Rx = 0 sin ψ cos ψ 0

0 0 0 1
 
cos φ 0 sin φ 0
 0 1 0 0
Ry = 
− sin φ 0 cos φ 0

0 0 0 1

Scaling in Three-Dimensions
I The scaling matrix can be extended from that in a

two-dimensional case as
 
µx 0 0 0
 0 µy 0 0
S =  0 0 µ z 0

0 0 0 1
I where µx , µy and µz are the scale factors along x, y and z

directions,

Shear in Three-Dimensions
I The generic form of the transformation matrix in 3D shear can

be expressed as
 
1 sh12 sh13 0
sh21 1 sh23 0
Sh =  
sh31 sh32 1 0
0 0 0 1

Reflection in Three-Dimensions
I Generic reflections about the x-y plane (z becomes –z), y-z

plane (x becomes – x), and z-x plane (y becomes –y) can be
expressed using the following respective transformations:
   
1 0 0 0 −1 0 0 0
0 1 0 0
 , Rfyz =  0 1 0 0
 
Rfxy =  0 0 −1 0  0 0 1 0
0 0 0 1 0 0 0 1
 
1 0 0 0
0 −1 0 0
Rfxz =
0 0 1 0

0 0 0 1

Combined transformation in Three-Dimensions

I The corners of wedge-shaped block are A(0, 0, 2), B(0, 0, 3),
C(0, 2, 3), D(0, 2, 2), E(-1, 2, 2) and F(-1, 2, 3), and the
reflection plane passes through the y-axis at 450 between (-x)
and z-axis. Determine the reflection of the wedge.
Figure: Reflection of a wedge about a plane

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Transformation of points and line

2-D rotation, translation

Lec4 - Geometric Transformations

ME308 Computer Aided Design & Analysis

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

Transformation of points and line

2-D rotation, translation

Scaling and combined transformation

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

I Transformation is the backbone of computer graphics

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

I Transformations may also cause deformations like shear,

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

Figure: Use of transformation to view an object from different angles

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

Geometric Transformations - Coordinate frame

I An object may be treated as an assemblage of finitely many

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

Geometric Transformations - Definition

Figure: Nature of geometric transformation as a function map

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

Geometric Transformations - Definition

I A geometric transformation may be considered as a mapping

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

Geometric Transformations - Definition

I In addition, the transformation should be onto in that for

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

Rigid Body Transformations

I In rigid body transformations, the geometric model stays

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

Figure: Rotation in a plane

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

xj∗ = xj cos θ − yj sin θ

Figure: Rotation in a plane

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

yj∗ = xj sin θ + yj cos θ

Figure: Rotation in a plane

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

xj∗ = xj cos θ − yj sin θ

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

2-D Rotation - Example

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

2-D Rotation - Example

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

2-D Rotation - Example

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

2-D Rotation - Example

Click here for Visualization

I For a rigid body S to be translated along a vector v such that

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

Translation in Two-Dimensions - Example

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

Translation in Two-Dimensions - Example

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

I Translation as described earlier is a matrix addition

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

I Translation as described earlier is a matrix addition

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

I The definition of position vector Pj is altered from an ordered

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

ME308 Computer Aided Design & Analysis Lec4 - Geometric Transformations

Combined Rotation and Translation

I Consider a point P(x, y , 1) in the x-y plane to be rotated by