Graphics

3D Geometric
Transformation
고려대학교 그래픽스 연구실

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Contents
CGVR

 Translation
 Scaling
 Rotation
 Other Transformations
 Coordinate Transformations

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Transformation in 3D
CGVR

 Transformation Matrix
A D G J  
B E H K   3 3 3  1
  
C F I L  
   
0 0 0 S  1 3 1 1

33 : Scaling, Reflection, Shearing, Rotation

31 : Translation

11 : Uniform global Scaling

13 : Homogeneous representation

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3D Translation
CGVR

 Translation of a Point

x'  x  t x , y '  y  t y , z '  z  t z

 x' 1 0 0 tx  x
 y ' 0 1 0   
t y  y
 
 z '  0 0 1 tz  z 
    
x  1  0 0 0 1  1 
z

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3D Scaling
CGVR

 Uniform Scaling

x'  x  s x , y '  y  s y , z '  z  s z

 x'  s x 0 0 0  x 
 y '  0 sy 0 0  y 
 
 z '  0 0 sz 0  z 
    
x
1  0 0 0 1  1 
z

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Relative Scaling
CGVR

 Scaling with a Selected Fixed Position

y y y y

z x z x z x z x

Original position Translate Scaling Inverse Translate

 x' 1 0 0 x f  sx 0 0 0  1 0 0  x f  x
 y ' 0 1 0 y f   0 s y 0 0 0 1 0  y f   y 
T ( x f , y f , z f )  S ( s x , s y , s z )  T (  x f , y f ,  z f )     
 z '  0 0 1 z f   0 0 sz 0  0 0 1  z f  z 
      
 1  0 0 0 1  0 0 0 1  0 0 0 1  1 

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3D Rotation
CGVR

 Coordinate-Axes Rotations
 X-axis rotation
 Y-axis rotation
 Z-axis rotation

 General 3D Rotations
 Rotation about an axis that is parallel to one of the
coordinate axes
 Rotation about an arbitrary axis

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Coordinate-Axes Rotations
CGVR

 Z-Axis
Z-AxisRotation
Rotation  X-Axis
X-AxisRotation
Rotation  Y-Axis
Y-AxisRotation
Rotation

 x' cos  sin  0 0  x   x' 1 0 0 0  x   x'  cos 0 sin  0  x 

 y '  sin  cos 0 0  y   y ' 0 cos  sin  0  y   y '  0 1 0 0  y 
     
 z'  0 0 1 0  z   z '  0 sin  cos 0  z   z '   sin  0 cos 0  z 
              
1  0 0 0 1  1   1  0 0 0 1  1  1  0 0 0 1  1 

y y y

x x x
z z z

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Order of Rotations
CGVR

 Order of Rotation Affects Final Position

 X-axis  Z-axis

 Z-axis  X-axis

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General 3D Rotations
CGVR

 Rotation about an Axis that is Parallel to One

of the Coordinate Axes
 Translate the object so that the rotation axis
coincides with the parallel coordinate axis
 Perform the specified rotation about that axis
 Translate the object so that the rotation axis is
moved back to its original position

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General 3D Rotations
CGVR

 Rotation about an Arbitrary Axis

y Basic
BasicIdea
Idea
TT 1.1. Translate
Translate(x1,
(x1,y1,
y1,z1)
z1)totothe
theorigin
origin
(x2,y2,z2)
2.2. Rotate
Rotate(x’2,
(x’2,y’2,
y’2,z’2)
z’2)on
ontotothe
thezz
RR
axis
axis
(x1,y1,z1) 3.3. Rotate
Rotatethe
theobject
objectaround
aroundthe
thez-axis
z-axis
4.4. Rotate
Rotatethe
theaxis
axistotothe
theoriginal
original
x RR-1-1
orientation
orientation
z 5.5. Translate
Translatethe
therotation
rotationaxis
axistotothe
the
TT-1-1
original
originalposition
position

[TR ] ARB  [TTR ]1[TR ]x [TR ]y [TR ]z [TR ]y [TR ]x [TTR ]
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General 3D Rotations
CGVR

 Step 1. Translation
y

(x2,y2,z2) 1 0 0  x1 
0 1 0  y1 
TTR  
(x1,y1,z1) 0 0 1  z1 
 
x
0 0 0 1 

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 General 3D Rotations
CGVR

 Step 2. Establish [ TR ]x x axis

y b b
sin   
b2  c2 d
(0,b,c) c c
(a,b,c) cos   
b2  c2 d
Projected
Point   1 0 0 0 1 0 0 0
0 cos   sin  0 0 c / d b/d 0
x TR αx  
0 sin  cos  0 0 b / d
 c/d 0
z    
0 0 0 1  0 0 0 1
Rotated
Point

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 Arbitrary Axis Rotation
CGVR

 Step 3. Rotate about y axis by 

y a d
sin   , cos  
l l
l 2  a2  b2  c2  a 2  d 2
(a,b,c)
d  b2  c2
Projected l
Point cos  0  sin  0 d / l 0  a / l 0
d  0 1 0 0  0 1 0 0
 x TR  y  
 sin  0 cos  0  a / l 0 d / l 0
(a,0,d)    
 0 0 0 1  0 0 0 1
Rotated
z Point

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Arbitrary Axis Rotation
CGVR

 Step 4. Rotate about z axis by the desired

angle 
y

cos   sin  0 0
 sin  cos 0 0
TR z 
 0 0 1 0
l
x  
  0 0 0 1

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Arbitrary Axis Rotation
CGVR

 Step 5. Apply the reverse transformation to

place the axis back in its initial position
y
1 0 0  x1  1 0 0 0
0 1 0  y1  0 cos sin  0
TTR  1TR  x TR  y 
l 0 0 1  z1  0  sin  cos  0
  
0 0 0 1  0 0 0 1
 cos  0 sin  0
l  0 1 0 0
x 
 sin  0 cos  0
 
 0 0 0 1
z
[TR ] ARB  [TTR ]1[TR ]x [TR ]y [TR ]z [TR ]y [TR ]x [TTR ]

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Example
CGVR

Ex) Find the new coordinates of a unit cube 90º-

rotated about an axis defined by its endpoints A(2,1,0)
and B(3,3,1).

A Unit Cube

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Example
CGVR

 Step1. Translate point A to the origin

y
1 0 0  2
B’(1,2,1)
0 1 0  1 
[TTR ]  
0 0 1 0
A’(0,0,0)  
x 0 0 0 1
z

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Example
CGVR

 Step 2. Rotate axis A’B’ about the x axis by

and angle , until it lies on the xz plane.
2 2 2 5
sin    
2 2  12 5 5
1 5
cos   
y 5 5
Projected point
(0,2,1) B’(1,2,1)
l  12  2 2  12  6

 l
1 0 0 0
x  5 2 5 
0  0
z B”(1,0,5) TR αx  5 5 
0 2 5 5
0
 5 5 
0 0 0 1

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Example
CGVR

 Step 3. Rotate axis A’B’’ about the y axis by

and angle , until it coincides with the z axis.
1 6
sin   
y 6 6
5 30
cos   
6 6

l  30 6 
 x  0  0
(0,0,6)  6 6 
B”(1,0,  5) TR  y  0 1 0 0
 6 30
0 0
z  6 6 
 0 0 0 1

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Example
CGVR

 Step 4. Rotate the cube 90° about the z axis

0  1 0 0
1 0 0 0
TR  90z  
0 0 1 0
 
0 0 0 1

Finally, the concatenated rotation matrix about the arbitrary

axis AB becomes,

[TR ] ARB  [TTR ]1[TR ]x  [TR ]y [TR ]90  

z [TR ] y [TR ] x [TTR ]

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Example
CGVR

1 0 0 0  30 6 
1 0 0 2  5 2 5  0 0  0  1 0 0
0 6 6
1 0 1 0 5 5
0  
0  1 0 0 0
[TR ] ARB    0 1 0
0 0 1 0  2 5 5   6 0 30 0 0 1 0
  0  0 0  
0 0 0 1  5 5  6 6  0 0
 0 1
0 0 0 1  0 0 0 1
 30 6  1 0 0 0
 0  0  5 2 5  1 0 0  2
6 6  0  0

0 1 0
 0
0  5 5 1 0  1
 
 6 30 2 5 5 0 0 1 0
0 0  0 0  
 6 6  5 5  0 0 0 1
 
0 0 0 1 0 0 0 1
 0.166  0.075 0.983 1.742 
 0.742 0.667 0.075  1 .151
 
 0.650 0.741 0.167 0.560 
 
 0 0 0 1 

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Example
CGVR

 Multiplying [TR]AB by the point matrix of the original

cube

 P   T    P 
*
R ARB

 0.166  0.075 0.983 1.742  0 0 1 1 0 0 1 1

 0.742 0.667 0.075  1.151 1 1 1 1 0 0 0 0
 
P 
*

 0.650 0.741 0.167 0.560  1 0 0 1 1 0 0 1

  
 0 0 0 1  1 1 1 1 1 1 1 1
 2.650 1.667 1.834 2.816 2.725 1.742 1.909 2.891 
 0.558  0.484 0.258 0.184  1.225  1.151  0.409  0.483

 1.467 1.301 0.650 0.817 0.726 0.560  0.091 0.076 
 
 1 1 1 1 1 1 1 1 

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Other Transformations
CGVR

 Reflection Relative to the xy Plane

 x' 1 0 0 0  x 
y y  y' 0 1 0 0  y 
 
z  z '  0 0  1 0  z 
    
z x x  1  0 0 0 1  1 

 Z-axis Shear
 x' 1 0 a 0  x 
 y ' 0 1 b 0  y 
 
 z '  0 0 1 0  z 
    
 1  0 0 0 1  1 

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Coordinate Transformations
CGVR

 Multiple Coordinate System

 Hierarchical Modeling
World Coordinate
System

Tractor Coordinate
System

Front-Wheel
Coordinate System
 As tractor moves, tractor coordinate system and front-wheel
coordinate system move in world coordinate system
 front wheels rotate in wheel coordinate system
 When tractor turns, wheel coordinate system rotates in tractor system

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Coordinate Transformations
CGVR

 Transformation of an Object Description from One

Coordinate System to Another
 Set up a translation that brings the new coordinate origin to the
position of the other coordinate origin
 Rotations that corresponding coordinate axes
 Scaling transformation, if different scales are used in the two
coordinates systems
 Example
y y’ ux1 ux 2 ux 3 0 1 0 0  x0 
x’ u u u 0 0 1 0  y0 
u’y R  T   y1 y 2 y 3
(x0,y0,z0) u’x uz1 uz 2 uz 3 0  0 0 1  z0 
(0,0,0) x   
z u’z 0 0 0 1  0 0 0 1 
z’

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