Computer Graphics

(Lecture 9)
3D Translation
 Translation by (tx, ty, tz) is achieved using the following matrix:
1 0 0 tx 
0 1 0 ty 
M T (t x , t y , t z )   
0 0 1 tz 
 
0 0 0 1

 For example: translation by (1, 1, 1) is the following:

1 0 0 1
0 1 0 1
M T (1,1,1)   
0 0 1 1
 
0 0 0 1
3D Scaling

The scale formula changes the size of the object and

repositions the object with relative to the coordinate
origin.

Y -z

-x
(2,0,-4)
(4,0,-2)
-y
Z
Scaling with respect to a selected point

 Scaling with respect to a selected point (xf,yf,zf) can be represented

with the following transformation sequence:
 1: Translate the fixed point to the origin.
 2: Scale the object with respect to origin.
 3: Translate the fixed point back to its original position.

T(xf,yf,zf).S (sx,sy,sz) .T (-xf,-yf,-zf)

 e.g : scale the previous example around (2,0,-4)

 Scaling with respect to a selected point

 Solution:
 1: Translate the object to system origin by T(-2,0,4)
 2: Scale the object by S (2,1,0.5)
 3:Translate the object back to (2,0,-4) by T (2,0,-4)
 p’ = T-1.S.T .p

transformation
 Scaling with respect to a selected point

Y -z Y -z
Y -z

-x -x
-x

-y -y -y
Z Z Z

T(-2,0,4) S(2,1,0.5) T(2,0,-4)

 𝑥′ 1 0 0 𝑥𝑓 𝑆𝑥 0 0 0 1 0 0 −𝑥𝑓 𝑥
𝑦′ 0 1 0 𝑦𝑓 0 𝑆𝑦 0 0 0 1 0 −𝑦𝑓 𝑦
 =
𝑧′ 0 0 1 𝑧𝑓 0 0 𝑆𝑧 0 0 0 1 −𝑧𝑓 𝑧
1 0 0 0 1 0 0 0 1 0 0 0 1 1
𝑥′ 1 0 0 2 2 0 0 0 1 0 0 −2 𝑥
𝑦′ 0 1 0 0 0 1 0 0 0 1 0 0 𝑦
 =
𝑧′ 0 0 1 −4 0 0 0.5 0 0 0 1 4 𝑧
1 0 0 0 1 0 0 0 1 0 0 0 1 1

𝑥′ 1 0 0 2 2 0 0 −4 𝑥
𝑦′ 0 1 0 0 0 1 0 0 𝑦
 =
𝑧′ 0 0 1 −4 0 0 0.5 2 𝑧
1 0 0 0 1 0 0 0 1 1

𝑥′ 2 0 0 −2 𝑥
𝑦′ 0 1 0 0 𝑦
 =
𝑧′ 0 0 0.5 −2 𝑧
1 0 0 0 1 1
3D Rotation
1 0 0 0
 cos  sin 0
• About X axis (Pitch angle) R x  0  (x,y,z)
0 sin cos 0
 
x

0 0 0 1
(x’,y’,z’)

 cos 0 sin 0
 0 0
• About Y axis (Yaw angle) Ry 
1 0
 (x,y,z)
  sin 0 cos 0 (x’,y’,z’)

 
 0 0 0 1

cos  sin 0 0
(x,y,z)
 sin cos 0
• About Z axis (Roll angle) Rz  
0
 x

 0 0 1 0
  (x’,y’,z’)
 0 0 0 1
Major Axis Rotation
Exercise - Rotate by 45 about x axis
 To rotate by 45 degrees about x-axis, use the following matrix:

1 0 0 0
1 0 0 0  1 1 
0  0  0
cos 45  sin 45 0
R x ( 45)  
2 2
  
0 sin 45 cos 45 0 0 1 1
0
   2 2 
0 0 0 1
 1
0 0 0 
3D Shear - One axe
𝒙′ 𝟏 𝒔𝒉𝒙𝒚 𝒔𝒉𝒙𝒛 𝟎 𝒙
• X-shearing a point 𝒚′ 𝟎 𝟏 𝟎 𝟎 𝒚
=
𝒛′ 𝟎 𝟎 𝟏 𝟎 𝒛
𝟏 𝟎 𝟎 𝟎 𝟏 𝟏

𝒙′ 𝟏 𝟎 𝟎 𝟎 𝒙
• Y-shearing a point 𝒚′ 𝒔𝒉𝒚𝒙 𝟏 𝒔𝒉𝒚𝒛 𝟎 𝒚
=
𝒛′ 𝟎 𝟎 𝟏 𝟎 𝒛
𝟏 𝟎 𝟎 𝟎 𝟏 𝟏

• Z-shearing a point 𝒙′ 𝟏 𝟎 𝟎 𝟎 𝒙
𝒚′ 𝟎 𝟏 𝟎 𝟎 𝒚
=
𝒛′ 𝒔𝒉𝒛𝒙 𝒔𝒉𝒛𝒚 𝟏 𝟎 𝒛
𝟏 𝟎 𝟎 𝟎 𝟏 𝟏
3D Shear - Two axis
• XY-shearing a point (Z is fixed)
𝒙′ 𝟏 𝟎 𝒔𝒉𝒛𝒙 𝟎 𝒙
𝒚′ 𝟎 𝟏 𝒔𝒉𝒛𝒚 𝟎 𝒚
=
𝒛′ 𝟎 𝟎 𝟏 𝟎 𝒛
𝟏 𝟎 𝟎 𝟎 𝟏 𝟏

• XZ-shearing a point (Y is fixed)

𝒙′ 𝟏 𝒔𝒉𝒚𝒙 𝟎 𝟎 𝒙
𝒚′ 𝟎 𝟏 𝟎 𝟎 𝒚
=
𝒛′ 𝟎 𝒔𝒉𝒚𝒛 𝟏 𝟎 𝒛
𝟏 𝟎 𝟎 𝟎 𝟏 𝟏

• YZ-shearing a point (X is fixed)

𝒙′ 𝟏 𝟎 𝟎 𝟎 𝒙
𝒚′ 𝒔𝒉𝒙𝒚 𝟏 𝟎 𝟎 𝒚
=
𝒛′ 𝒔𝒉𝒙𝒛 𝟎 𝟏 𝟎 𝒛
𝟏 𝟎 𝟎 𝟎 𝟏 𝟏
3D Shear - All together

𝒙′ 𝟏 𝒔𝒉𝒙𝒚 𝒔𝒉𝒙𝒛 𝟎 𝒙
𝒚′ 𝒔𝒉𝒚𝒙 𝟏 𝒔𝒉𝒚𝒛 𝟎 𝒚
=
𝒛′ 𝒔𝒉𝒛𝒙 𝒔𝒉𝒛𝒚 𝟏 𝟎 𝒛
𝟏 𝟎 𝟎 𝟎 𝟏 𝟏
 Example
We want to Rotate a Line around a point with a specific Angle :

We Need Three Matrix 4 * 4

M = T1’ * R1* T1
T1 : translate the point to the Origin
R1 : apply the desired rotation
T1’ : translate the point to the original position
Perspective Projection Back
Clipping
VUP
plane
View
Front
plane
Clipping
plane VRP

VPN

F B

 Projections transform points from 3D to 2D

 VPN: View Plane Normal
 VRP: View Reference Point (any point on the view plane)
 VUP: a vector to determine the viewer’s up direction
 COP: Center of projection (eye)
Perspective Projection (Pinhole Camera)
 If COP is placed at the origin (0,0,0) and the view plane is
perpendicular to z direction of a distance d from the origin:
Projection
x plane P(x, y, z)
xp
xp x yp y
 ; 
z
d z d z
d x y
xp  ; yp 
z/d z/d
d 1 0 0 0
z 0 1 0 0
yp M per   
Projection 0 0 1 0
y P(x, y, z)  
plane
0 0 1 / d 0
Perspective Projection
 xp  X  1 0 0 0  x  x
y  Y  0     y
      M per  P   1 0 0  y   
p
 z
zp  Z  0 0 1 0  z 
        z
 1  W  0 0 1/ d 0  1  
d 

 However W  1, so we must divide by W to return from homogeneous
coordinates  d
 xp  x 
y   d z

 p   y 
zp   z 
   d 
 1   
 1 
 If COP is placed at point (a,b,c) first translate the view to the origin then
do the projection and finally translate it back