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Csc461: Lecture 16 Opengl Transformations

The document discusses OpenGL transformations including translation, rotation, and scaling matrices and how to apply them using OpenGL functions. It also covers OpenGL matrix modes and the current transformation matrix (CTM) that is applied to vertices. Additional topics include building arbitrary transformation matrices, using matrix stacks, and reading back matrices from OpenGL.

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188 views20 pages

Csc461: Lecture 16 Opengl Transformations

The document discusses OpenGL transformations including translation, rotation, and scaling matrices and how to apply them using OpenGL functions. It also covers OpenGL matrix modes and the current transformation matrix (CTM) that is applied to vertices. Additional topics include building arbitrary transformation matrices, using matrix stacks, and reading back matrices from OpenGL.

Uploaded by

rahul.yerrawar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CSC461: Lecture 16

OpenGL Transformations
Objectives

 Learn to build arbitrary transformation matrices


from simple transformations
 Learn how to carry out transformations in
OpenGL
 Rotation, Translation, Scaling
 Introduce OpenGL matrix modes
 Model-view
 Projection
Summarization of Transformations
 Translation 1 0 0 dx 
0 1 0 dy 
using a matrix T = T(dx, dy, dz) =  
0 0 1 dz 
T  
0 0 0 1

 cos   sin  0 0
 Rotation around  sin  cos  0 0 
Z axis using a R = Rz(q) =  0 0 1 0
matrix R  
 0 0 0 1

sx 0 0 0
0 sy 0 0
 Scaling using a  
matrix S S = S(sx, sy, sz) =  0 0 sz 0
 
0 0 0 1
OpenGL Matrices
 In OpenGL matrices are part of the state
 Three types
 Model-View (GL_MODEL_VIEW)
 Projection (GL_PROJECTION)
 Texture (GL_TEXTURE) (ignore for now)
 Single set of functions for manipulation
 Select which to manipulate by
 glMatrixMode(GL_MODEL_VIEW);
 glMatrixMode(GL_PROJECTION);
Current Transformation Matrix
(CTM)
 Conceptually there is a 4 x 4 homogeneous
coordinate matrix, the current transformation
matrix (CTM) that is part of the state and is applied
to all vertices that pass down the pipeline
 The CTM is defined in the user program and loaded
into a transformation unit
p p’=Cp
vertices CTM vertices
CTM operations
 The CTM can be altered either by loading a new
CTM or by postmutiplication
 Load an identity matrix: C  I
 Load an arbitrary matrix: C  M

 Load a translation matrix: C  T


 Load a rotation matrix: C  R
 Load a scaling matrix: C  S

 Postmultiply by an arbitrary matrix: C  CM


 Postmultiply by a translation matrix: C  CT
 Postmultiply by a rotation matrix: C  C R
 Postmultiply by a scaling matrix: C  C S
Rotation about a Fixed Point
Start with identity matrix: C  I
Move fixed point to origin: C  CT -1
Rotate: C  CR
Move fixed point back: C  CT

Result: C = T -1RT

Each operation corresponds to one function call in


the program.

Note that the last operation specified is first


executed in the program
CTM in OpenGL
 OpenGL has a model-view and a projection matrix in
the pipeline which are concatenated together to form
the CTM
 Can manipulate each by first setting the matrix mode
Rotation, Translation, Scaling
 Load an identity matrix: glLoadIdentity()
 Multiply on right:
 Rotation
glRotatef(theta, vx, vy, vz)

theta in degrees, (vx, vy, vz) define axis of rotation


 Translation
glTranslatef(dx, dy, dz)
 Scaling
glScalef( sx, sy, sz)
 Each has a float (f) and double (d) format (glRotated,
glTranslated, glScaled)
Example
 Rotation about z axis by 30 degrees with a
fixed point of (1.0, 2.0, 3.0)
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslatef(1.0, 2.0, 3.0);
glRotatef(30.0, 0.0, 0.0, .10);
glTranslatef(-1.0, -2.0, -3.0);
 Remember that last matrix specified in the
program is the first applied
Arbitrary Matrices
 Can load and multiply by matrices defined in
the application program
glLoadMatrixf(m)
glMultMatrixf(m)
 The matrix m is a one dimension array of 16
elements which are the components of the
desired 4 x 4 matrix stored by columns
 In glMultMatrixf, m multiplies the existing
matrix on the right
Matrix Stacks
 In many situations we want to save
transformation matrices for use later
 Traversing hierarchical data structures (Chapter 9)
 Avoiding state changes when executing display
lists
 OpenGL maintains stacks for each type of
matrix
 Access present type (as set by glMatrixMode)
by
glPushMatrix()
glPopMatrix()
Reading Back Matrices
 Can also access matrices (and other parts of the
state) by enquiry (query) functions
glGetIntegerv
glGetFloatv
glGetBooleanv
glGetDoublev
glIsEnabled
 For matrices, we use as
double m[16];
glGetFloatv(GL_MODELVIEW, m);
Using Transformations
 Example: use idle function to rotate a cube
and mouse function to change direction of
rotation
 Consider a program that draws a cube in a
standard way (colorcube.c)
 Centered at origin

 Sides aligned with axes

 Modeling (discuss in next lecture)


main.c
void main(int argc, char **argv)
{
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE |
GLUT_RGB |GLUT_DEPTH);
glutInitWindowSize(500, 500);
glutCreateWindow("colorcube");
glutReshapeFunc(myReshape);
glutDisplayFunc(display);
glutIdleFunc(spinCube);
glutMouseFunc(mouse);
glEnable(GL_DEPTH_TEST);
glutMainLoop();
}
Idle and Mouse callbacks
void spinCube()
{
theta[axis] += 2.0;
if( theta[axis] > 360.0 ) theta[axis] -= 360.0;
glutPostRedisplay();
}

void mouse(int btn, int state, int x, int y)


{
if(btn==GLUT_LEFT_BUTTON && state == GLUT_DOWN)
axis = 0;
if(btn==GLUT_MIDDLE_BUTTON && state
== GLUT_DOWN)
axis = 1;
if(btn==GLUT_RIGHT_BUTTON && state == GLUT_DOWN)
axis = 2;
}
Display callback
void display()
{
glClear(GL_COLOR_BUFFER_BIT|
GL_DEPTH_BUFFER_BIT);
glLoadIdentity();
glRotatef(theta[0], 1.0, 0.0, 0.0);
glRotatef(theta[1], 0.0, 1.0, 0.0);
glRotatef(theta[2], 0.0, 0.0, 1.0);
colorcube();
glutSwapBuffers();
}
 Note that because of fixed form of callbacks, variables
such as theta and axis must be defined as globals
 Camera information is in standard reshape callback
Using the Model-View Matrix
 In OpenGL the model-view matrix is used to
 Position the camera

 Can be done by rotations and translations but is often

easier to use gluLookAt


 Build models of objects

 The projection matrix is used to define the view volume and


to select a camera lens
 Although both are manipulated by the same functions, we
have to be careful because incremental changes are always
made by post-multiplication
 For example, rotating model-view and projection matrices by the
same matrix are not equivalent operations. Post-multiplication of
the model-view matrix is equivalent to pre-multiplication of the
projection matrix
Smooth and Incremental Rotation
 From a practical standpoint, we often want to use
transformations to move and reorient an object smoothly
 Problem: find a sequence of model-view matrices M ,M ,
0 1
…..,Mn so that when they are applied successively to one
or more objects we see a smooth transition
 For orientating an object, we can use the fact that every
rotation corresponds to part of a great circle on a sphere --
Find the axis of rotation and angle
 Incremental Rotation -- Consider the two approaches
 For a sequence of rotation matrices R0,R1,…..,Rn , find the
Euler angles for each and use Ri= Riz Riy Rix
 Not very efficient

 Use the final positions to determine the axis and angle of


rotation, then increment only the angle
Quaternion
 Quaternion can be more efficient than either of above
two approaches
 Extension of imaginary numbers from two to three
dimensions
 Requires one real and three imaginary components
i, j, k

 Quaternions can express rotations on sphere


smoothly and efficiently. Process:
 Model-view matrix  quaternion
 Carry out operations with quaternion
 Quaternion  Model-view matrix
Interfaces
 One of the major problems in interactive computer
graphics is how to use two-dimensional devices
such as a mouse to interface with three dimensional
objects
 Example: how to form an instance matrix?
 Some alternatives
 Virtual trackball

 3D input devices such as the spaceball

 Use areas of the screen

 Distance from center controls angle, position,

scale depending on mouse button depressed

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