CSE385: Homework #1

Assigned: March 14, 2003 Due: March 21, 2003

You should hand in this homework at the start of class on Friday, March 21. Remember to write clearly and legibly. Unreadable answers will receive 0 credit. For the purposes of this homework, you should assume that we are using a right-handed coordinate system. 1. Let a vector v = [5 3 7]. (a) Compute v , the vector length of v. (b) Compute the angle v which makes with the x-axis [1 0 0]. Express your answer in radians. (c) Show that the vector u = [1 4 1] is orthogonal to v. 2. Let p1 , p2 , p3 , and p4 R3 be four points in 3D Euclidean space. They make two triangles t1 (p1 , p2 , p3 ), and t2 (p3 , p2 , p4 ). (a) Give an expression for the normal vector n of the triangle t1 involving p1 = (x1 , y1 , z1 ), p2 = (x2 , y2 , z2 ), and p3 = (x3 , y3 , z3 ). (b) Give an expression for the dihedral angle between two triangles t1 and t2 involving p1 , p2 , p3 , and p4 . (Dihedral angle is the angle between two planes.) 3. Consider the three vectors: [1 0 0], [1 1 0], and [1 1 1] R3 . Show that they are linearly independent. Derive an orthonormal basis from these vectors, starting with [1 0 0]. 4. Show that the multiplication and division of two complex numbers z1 = r1 (cos 1 + i sin 1 ) and z2 = r2 (cos 2 + i sin ) are z1 z2 = r1 r2 (cos(1 + 2 ) + i sin(1 + 2 )) and z1 /z2 = r1 /r2 (cos(1 2 ) + i sin(1 2 )). 5. Show that the multiplication of two quaternions q1 = (s1 , v1 ) and q2 = (s2 , v2 ) is q1 q2 = (s1 s2 v1 v2 , s1 v2 + s2 v1 + v1 v2 ). 6. An ellipsoid with center at the coordinate origin couble be dened in an implicit expression as x2 y2 z2 + 2 + 2 = 1. 2 a b c Give its parametric form with parameter u, v (0 u, v 1). 1

Figure 1: 3D Rotation of a vector p by the angle with the axis n. 7. Fill in the blanks (Equations (5), (6), and (8), and the expressions between Equations (6) and (7). Dont pay attentaion to the number of =. If you need, you can increase its number.) First of all, lets look into the angular displacement. We can calculate a vector Rp when a vector p is rotated by the angle with the axis n. n p = (p n)n = pn = p (p n)n (1) (2)

A vector p is orthogonal to vectors n and p at the same time. p = n p = n p A vector p will become Rp = Rp n after it is rotated. Rp = cos p + sin p Therefore, we can derive Rp as followings: Rp = = = = n + Rp (4) (3)

(5)

Equation (5) is the angular displacement, which is the formula for rotating a vector p by angle with the axis n. Now let an unit quaternion q = (s, v). Because q is an unit quaternion, |q|2 = q q = s2 + v2 = 1. Since cos2 + sin2 = 1, we can express q = (cos , sin ), where n is an unit vector (| | = 1). As we studied in n n last class, Rp = qp, where p is a quaternion p = (0, p). q qp = (s, v)(0, p)(s, v) q = ( , )( , ) = (, ) 2 (6)

For real part, = = = becuase v p is orthogonal to v. For imaginary part,

0,

= = = = = (s2 v v)p + 2(v p)v + 2s(v p). Therefore, qp = (0, (s2 v v)p + 2(v p)v + 2s(v p)). q Now we substitue s = cos and v = sin . n qp = q = = (7)

(8)

Compared with Equation (5), the imaginary part of Equation (8) shows the result of rotating p by angle 2 about the axis n.