Computer Graphics

with OpenGL 3e

© 2005 Pearson Education

 Chapter 5
Geometric
Transformations

© 2005 Pearson Education

 Geometric Transformations
• Basic transformations:
– Translation
– Scaling
– Rotation
• Purposes:
– To move the position of objects
– To alter the shape / size of objects
– To change the orientation of objects

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Basic two-dimensional geometric
transformations (1/1)

• Two-Dimensional translation
– One of rigid-body transformation, which move objects without
deformation
– Translate an object by Adding offsets to coordinates to generate
new coordinates positions
– Set tx,ty be the translation distance, we have
x'  x  t x y'  y  t y

– In matrix format, where T is the translation vector

 x'  x  t x 
P'    P  T 
 y'  y  t y 

P'  P  T

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Basic two-dimensional geometric
transformations (1/2)
– We could translate an object by applying the equation to
every point of an object.
• Because each line in an object is made up of an
infinite set of points, however, this process would
take an infinitely long time.
• Fortunately we can translate all the points on a line
by translating only the line’s endpoints and drawing
a new line between the endpoints.
• This figure translates the “house” by (3, -4)

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Translation Example

4
(2, 3)
3

1
(1, 1) (3, 1)

0 1 2 3 4 5 6 7 8 9 10 x
Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Basic two-dimensional geometric
transformations (2/1)

• Two-Dimensional rotation
– Rotation axis and angle are specified for rotation r
– Convert coordinates into polar form for calculation
r
x  r cos  y  y sin 
– Example, to rotation an object with angle a
• The new position coordinates
x'  r cos(   )  r cos  cos  r sin  sin   x cos  y sin 
y '  r sin(   )  r cos  sin   r sin  sin   x sin   y cos 
• In matrix format
cos   sin  
R P'  R  P
 sin  cos  
• Rotation about a point (xr, yr)
x'  xr  ( x  xr ) cos  ( y  yr ) sin 
y '  yr  ( x  xr ) sin   ( y  yr ) cos 

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Basic two-dimensional geometric
transformations (2/2)

– This figure shows the rotation of the house by 45

degrees. y
6

2


1 6

0
1 2 3 4 5 6 7 8 9 10
x
• Positive angles are measured counterclockwise
(from x towards y)
• For negative angles, you can use the identities:
– cos(-) = cos() and sin(-)=-sin()

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Rotation Example

4
(4, 3)
3

1
(3, 1) (5, 1)

0 1 2 3 4 5 6 7 8 9 10
Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Basic two-dimensional geometric
transformations (3/1)

• Two-Dimensional scaling
– To alter the size of an object by multiplying the coordinates
with scaling factor sx and sy
x'  x  s x y  y  sy
– In matrix format, where S is a 2by2 scaling matrix
 x ' s x 0  x
   0  P'  S  P
 y '  s y   y 

– Choosing a fix point (xf, yf) as its centroid to perform scaling

x'  x  s x  x f (1  s x )
y'  y  s y  y f (1  s y )

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Basic two-dimensional geometric
transformations (3/2)

– In this figure, the house is scaled by 1/2 in x and 1/4 in y

• Notice that the scaling is about the origin:
– The house is smaller and closer to the origin

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Scaling

– If the scale factor had been greater than 1, it would be

larger and farther away.
WATCH OUT: Objects grow and move!
y
6

3 6 9
 3 3
   
2

1  2 3
1  1
   
0
1 2 3 4 5 6 7 8 9 10
x
Note: House shifts position relative to origin

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Scaling Example

4
(2, 3)
3

1
(1, 1) (3, 1)

0
Computer Graphics with OpenGL,1Third Edition,
2 by Donald3 Hearn and
4 M.Pauline5Baler. 6 7 8 9 10
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Homogeneous Coordinates

• A point (x, y) can be re-written in homogeneous

coordinates as (xh, yh, h)
• The homogeneous parameter h is a non-
zero value such that:
xh yh
x y
h h
• We can then write any point (x, y) as (hx, hy, h)
• We can conveniently choose h = 1 so that
(x, y) becomes (x, y, 1)

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Why Homogeneous Coordinates?

• Mathematicians commonly use homogeneous

coordinates as they allow scaling factors to be
removed from equations
• We will see in a moment that all of the
transformations we discussed previously can be
represented as 3*3 matrices
• Using homogeneous coordinates allows us use
matrix multiplication to calculate transformations –
extremely efficient!

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Homogenous Coordinates

• Combine the geometric transformation into a single matrix with 3by3

matrices
• Expand each 2D coordinate to 3D coordinate with homogenous
parameter
• Two-Dimensional translation matrix
 x '  1 0 t x   x 
     
y '
    0 1 t y   y
 1  0 0 1   1

• Two-Dimensional rotation matrix

 x' cos   cos  0  x 
     
 y'   sin cos  0   y 
 1   0 0 1  1
• Two-Dimensional scaling matrix
 x ' s x 0 0  x 
     
 y '   0 sy 0   y 
 1   0 0 1  1
Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Inverse transformations

• Inverse translation matrix

1 0  t x 
 
T 1  0 1  t y 
0 0 1 

• Two-Dimensional translation matrix

 cos  sin 0
 
R 1   sin cos  0
 0 0 1

• Two-Dimensional translation matrix

 1 
s 0 0 
 x 
1
S 1   0 0
 sx 
0 0 1
 
 
Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Basic 2D Transformations

• Basic 2D transformations as 3x3 Matrices

 x  1 0 tx   x   x   sx 0 0   x 
 y  0 1 ty   y   y  0 sy 0  y 
         
1  0 0 1  1  1  0 0 1  1 
Translate Scale
 x  cos  sin  0   x   x  1 shx 0   x 
 y  sin  cos 0  y  y   shy 1 0  y 
         
1  0 0 1  1  1  0 0 1 1 

Rotate Shear

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Geometric transformations in three-
dimensional space (1)

• Extend from two-dimensional transformation by including

considerations for the z coordinates
• Translation and scaling are similar to two-dimension,
include the three Cartesian coordinates
• Rotation method is less straight forward
• Representation
– Four-element column vector for homogenous coordinates
– Geometric transformation described 4by4 matrix

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Geometric transformations in three-
dimensional space (2)

• Three-dimensional translation
– A point P (x,y,z) in three-dimensional space translate to new
location with the translation distance T (tx, ty, tz)
x'  x  t x y'  y  t y z'  z  t z
– In matrix format
 x '  1 0 0 t x  x
     
 y'  0 1 0 t y  y
 P'  T  P
 z'  0 0 1 t z  z
     
 1  0 0 0 1   1

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Geometric transformations in three-
dimensional space (3)

• Three-dimensional scaling
– Relative to the coordinate origin, just include the parameter
for z coordinate scaling in the transformation matrix
 x ' s x 0 0 0  x 
     
 y '   0 sy 0 0  y 
 P'  S  P
 z'   0 0 sz 0 z

     
 1  0 0 0 1  1
– Relative to a fixed point (xf, yf zf)
• Perform a translate-scaling-translate composite
transformation
t( x f , y f , z f )  S(s x , s y , s z )  T(  x f , y f ,z f )
s x 0 0 (1  s x )x f 
 
0 sy 0 (1  s y )y f 

0 0 sz (1  s z )z f 
 
0 0 0 1 
Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Geometric transformations in three-
dimensional space (4)

• Three-dimensional rotation definition

– Assume looking in the negative direction along the axis
– Positive angle rotation produce counterclockwise
rotations
about a coordinate axis

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Geometric transformations in three-
dimensional space (5)

• Three-dimensional coordinate-axis rotation

– Z-axis rotation equations Rz
 x' cos  sin 0 0  x 
x'  x cos   y sin
     
y'  x sin  y cos  y '
  sin  cos  0 0   y
z'  z  z'   0 0 1 0  z 
     
1
   0 0 0 1   1
– Transformation equations for rotation about the other two
coordinate axes can be obtained by a cyclic permutation
x  y  z  x
– X-axis rotation equations 1 0 0 0
y'  y cos   z sin 0 cos  sin  0
z'  y sin  z cos  Rx  Rx   
0 sin  cos
 
x'  x
0
 
0 0 0 1

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Geometric transformations in three-
dimensional space (6)

• Three-dimensional coordinate-axis rotation

– Y-axis rotation equations  cos 0 sin  0
z'  z cos   x sin  0 1 0 0
x'  z sin  x cos  R y  R y    
y'  y  sin  0 cos 0
 
– General Three-dimensional rotations  0 0 0 1
• Translate object so that the rotation axis coincides with the parallel
coordinate axis
• Perform the specified rotation about that axis
• Translate object back to the original position
P'  T 1  R x ( )  T  P
R( )  T 1  R x ( )  T

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Geometric transformations in three-
dimensional space (7)

• Inverse of a rotation matrix

R 1    R  

cos    cos , sin      sin 

cos    sin    0 0  cos sin  0 0

 sin    cos   0 0  sin  cos 0 0
R z1    R z      
 0 0 1 0  0 0 1 0
   
 0 0 0 1  0 0 0 1

1 T
R R : orthogonal matrix
Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Concatenation of Transformations

• Concatenating
– affine transformations by multiplying together
– sequences of the basic transformations
 define an arbitrary transformation directly
– ex) three successive transformations
p1 p2
p A B C q

p1 = Ap
p2 = Bp1 q  CBAp   CBAp
q = Cp2 CBA
M  CBA
q = CBp1
q = CBAp q  Mp p M q
Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Matrix Concatenation Properties

• Associative properties

M1  M2  M3  M1  (M2  M3 )  (M1  M2 )  M3

• Transformation is not commutative (CopyCD!)

– Order of transformation may affect transformation
position

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Two-dimensional composite
transformation (1)

• Composite transformation
– A sequence of transformations
– Calculate composite transformation matrix rather than
applying individual transformations
P'  M2  M1  P
P'  M  P
• Composite two-dimensional translations
– Apply two successive translations, T1 and T2
T1  T (t1x , t1 y )
T2  T (t 2 x , t 2 y )
P '  T2  (T1  P )  (T2  T1 )  P

T( t 2 x , t 2 y )  T( t 1x , t 1y )  T( t 1x  t 2 x , t 1y  t 2 y )
– Composite transformation matrix in coordinate form

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Two-dimensional composite
transformation (2)

• Composite two-dimensional rotations

– Two successive rotations, R1 and R2 into a point P
P'  R(1 )  {R( 2 )  P}
P'  {R(1 )  R( 2 )}  P

– Multiply two rotation matrices to get composite

R(1 )  R( 2 ) matrix
transformation  R(1   2 )
P'  R(1   2 )  P

S(s1x ,two-dimensional
• Composite s1y )  S(s 2 x , s 2 y )  Sscaling
( s1x  s 2 x , s1y  s 2 y )
P'  S(s1x  s 2 x , s1y  s 2 y )  P

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Two-dimensional composite
transformation (3)

• General two-dimensional Pivot-point rotation

– Graphics package provide only origin rotation
– Perform a translate-rotate-translate sequence
• Translate the object to move pivot-point position to
origin
• Rotate the object
• Translate the object back to the original position
– Composite matrix in coordinates form
T( x r , y r )  R( )  T(  x r , y r )  R( x r , y r , )

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Two-dimensional composite
transformation (4)

• Example of pivot-point rotation

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Pivot-Point Rotation

(xr,yr (xr,yr (xr,yr (xr,yr

) ) ) )

Translate Rotate Translate

T xr , yr  R  T  xr , yr   Rxr , yr , 

1 0 x r  cos   sin  0 1 0  x r  cos   sin  x r (1  cos  )  y r sin  
0 1 y    sin  cos  0  0 1  y    sin  cos  y (1  cos  )  x sin  
 r    r  r r 
0 0 1   0 0 1 0 0 1   0 0 1 

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Two-dimensional composite
transformation (5)

• General two-dimensional Fixed-point scaling

– Perform a translate-scaling-translate sequence
• Translate the object to move fixed-point position to
origin
• Scale the object wrt. the coordinate origin
• Use inverse of translation in step 1 to return the object
back to the original position
– Composite matrix in coordinates form
T( x f , y f )  S(s x , s y )  T(  x f , y f )  S( x f , y f , s x , s y )

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Two-dimensional composite
transformation (6)

• Example of fixed-point scaling

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 General Fixed-Point Scaling

(xr,yr (xr,yr (xr,yr (xr,yr

) ) ) )

Translate Scale Translate

T x f , y f  S s x , s y  T  x f , y f   S x f , y f , s x , s y 
1 0 xf  s x 0 0 1 0  xf  s x 0 x f (1  s x ) 
0 1 yf 0 sy 0  0 1  yf 0 sy y f (1  s y )
    
0 0 1   0 0 1 0 0 1   0 0 1 

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Two-dimensional composite
transformation (7)

• General two-dimensional scaling directions

– Perform a rotate-scaling-rotate sequence
– Composite matrix in coordinates form
R 1( )  S(s1, s 2 )  R( )
s1 cos 2   s 2 sin2  (s 2  s1 ) cos sin 0
 
  (s 2  s1 ) cos sin s1 sin2   s 2 cos 2  0
 0 0 1

s1


s2

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 General Scaling Directions

• Converted to a parallelogram
y y
(1/2,3/ (2,2)
2)
(0,1) (1,1)
(3/2,1/
2)
(0,0) (1,0) x (0,0) x

Scale
s1 cos   s2 sin  ( s2  s1 ) cos sin  0
2 2 y s2
 
R 1 ( )  S ( s1 , s2 )  R( )   ( s2  s1 ) cos sin  s1 sin 2   s2 cos 2  0
 0 0 1  xs
 1

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 General Rotation (1/2)

• Three successive rotations about the three axes

rotation of a cube about the z axis rotation of a cube about the y axis

?
rotation of a cube about the x axis
Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 General Rotation (2/2)

R  Rx R y Rz

1 0 0 0  cos  0 sin  0 cos  sin  0 0

0 cos   sin  0  0 1 0 0  sin  cos 0 0

0 sin  cos  0  sin  0 cos  0  0 0 1 0
   
0 0 0 1  0 0 0 1  0 0 0 1

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Instance Transformation (1/2)

• Instance of an object’s
prototype
– occurrence of that object in
the scene
• Instance transformation

?
– applying an affine
transformation to the
prototype to obtain desired
size, orientation, and location

instance transformation

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education
 Instance Transformation (2/2)

M  TRS

1 0 0  x  cos   sin  0 0  x 0 0 0
0 1 0  y   sin  cos  0 0  0  y 0 0

0 0 1  z  0 0 1 0  0 0 z 0
   
0 0 0 1  0 0 0 1  0 0 0 1

Computer Graphics with OpenGL, Third Edition, by Donald Hearn and M.Pauline Baler.
IBSN 0-12-0-153-90-7 @ 2004 Pearson Education, Inc., Upper Saddle River, NJ. All right reserved © 2005 Pearson Education