3D Translation

3D Translation is a process of moving an object from one position to another in a three

dimensional plane.
Consider a point object O has to be moved from one position to another in a 3D plane.
Let-

 Initial coordinates of the object O = (Xold, Yold, Zold)

 New coordinates of the object O after translation = (X new, Ynew, Zold)
 Translation vector or Shift vector = (Tx, Ty, Tz)
Given a Translation vector (Tx, Ty, Tz)-

 Tx defines the distance the Xold coordinate has to be moved.

 Ty defines the distance the Yold coordinate has to be moved.
 Tz defines the distance the Zold coordinate has to be moved.

This translation is achieved by adding the translation coordinates to the old coordinates of the
object as-

 Xnew = Xold + Tx (This denotes translation towards X axis)

 Ynew = Yold + Ty (This denotes translation towards Y axis)
 Znew = Zold + Tz (This denotes translation towards Z axis)
In Matrix form, the above translation equations may be represented as-

Question: Given a 3D object with coordinate points A(0, 3, 1), B(3, 3, 2), C(3, 0, 0), D(0, 0,
0). Apply the translation with the distance 1 towards X axis, 1 towards Y axis and 2 towards Z
axis and obtain the new coordinates of the object.
Solution:
Given-

 Old coordinates of the object = A (0, 3, 1), B(3, 3, 2), C(3, 0, 0), D(0, 0, 0)
 Translation vector = (Tx, Ty, Tz) = (1, 1, 2)
For Coordinates A(0, 3, 1)
Let the new coordinates of A = (Xnew, Ynew, Znew).

Applying the translation equations, we have-

 Xnew = Xold + Tx = 0 + 1 = 1

 Ynew = Yold + Ty = 3 + 1 = 4
 Znew = Zold + Tz = 1 + 2 = 3
 

Thus, New coordinates of A = (1, 4, 3).

For Coordinates B(3, 3, 2)

Let the new coordinates of B = (Xnew, Ynew, Znew).

Applying the translation equations, we have-

 Xnew = Xold + Tx = 3 + 1 = 4

 Ynew = Yold + Ty = 3 + 1 = 4
 Znew = Zold + Tz = 2 + 2 = 4
Thus, New coordinates of B = (4, 4, 4).

For Coordinates C(3, 0, 0)

Let the new coordinates of C = (Xnew, Ynew, Znew).

Applying the translation equations, we have-

 Xnew = Xold + Tx = 3 + 1 = 4

 Ynew = Yold + Ty = 0 + 1 = 1
 Znew = Zold + Tz = 0 + 2 = 2
Thus, New coordinates of C = (4, 1, 2).

For Coordinates D(0, 0, 0)

Let the new coordinates of D = (Xnew, Ynew, Znew).

Applying the translation equations, we have-

 Xnew = Xold + Tx = 0 + 1 = 1

 Ynew = Yold + Ty = 0 + 1 = 1
 Znew = Zold + Tz = 0 + 2 = 2
Thus, New coordinates of D = (1, 1, 2).

3D Rotation
3D Rotation is a process of rotating an object with respect to an angle in a three dimensional
plane.
Consider a point object O has to be rotated from one angle to another in a 3D plane.

Let-

 Initial coordinates of the object O = (Xold, Yold, Zold)

 Initial angle of the object O with respect to origin = Φ
 Rotation angle = θ
 New coordinates of the object O after rotation = (X new, Ynew, Znew)
In 3 dimensions, there are 3 possible types of rotation-

 X-axis Rotation
 Y-axis Rotation
 Z-axis Rotation
For X-Axis Rotation-
This rotation is achieved by using the following rotation equations-

 Xnew = Xold
 Ynew = Yold x cosθ – Zold x sinθ
 Znew = Yold x sinθ + Zold x cosθ
In Matrix form, the above rotation equations may be represented as
 For Y-Axis Rotation-
This rotation is achieved by using the following rotation equations-

 Xnew = Zold x sinθ + Xold x cosθ

 Ynew = Yold
 Znew = Yold x cosθ – Xold x sinθ
In Matrix form, the above rotation equations may be represented as-

For Z-Axis Rotation-

This rotation is achieved by using the following rotation equations-

 Xnew = Xold x cosθ – Yold x sinθ

 Ynew = Xold x sinθ + Yold x cosθ
 Znew = Zold
In Matrix form, the above rotation equations may be represented as-

Problem-01:
Given a homogeneous point (1, 2, 3). Apply rotation 90 degree towards X, Y and Z axis and
find out the new coordinate points.

Solution-
Given-

 Old coordinates = (Xold, Yold, Zold) = (1, 2, 3)

 Rotation angle = θ = 90º
For X-Axis Rotation-
Let the new coordinates after rotation = (Xnew, Ynew, Znew).

Applying the rotation equations, we have-

 Xnew = Xold = 1
 Ynew = Yold x cosθ – Zold x sinθ = 2 x cos90° – 3 x sin90° = 2 x 0 – 3 x 1 = -3
 Znew = Yold x sinθ + Zold x cosθ = 2 x sin90° + 3 x cos90° = 2 x 1 + 3 x 0 = 2
 Thus, New coordinates after rotation = (1, -3, 2).

For Y-Axis Rotation-

Let the new coordinates after rotation = (Xnew, Ynew, Znew).

Applying the rotation equations, we have-

 Xnew = Zold x sinθ + Xold x cosθ = 3 x sin90° + 1 x cos90° = 3 x 1 + 1 x 0 = 3

 Ynew = Yold = 2
 Znew = Yold x cosθ – Xold x sinθ = 2 x cos90° – 1 x sin90° = 2 x 0 – 1 x 1 = -1
Thus, New coordinates after rotation = (3, 2, -1).

For Z-Axis Rotation-

Let the new coordinates after rotation = (Xnew, Ynew, Znew).

Applying the rotation equations, we have-

 Xnew = Xold x cosθ – Yold x sinθ = 1 x cos90° – 2 x sin90° = 1 x 0 – 2 x 1 = -2

 Ynew = Xold x sinθ + Yold x cosθ = 1 x sin90° + 2 x cos90° = 1 x 1 + 2 x 0 = 1
 Znew = Zold = 3

3D Scaling
scaling is a process of modifying or altering the size of objects.

 Scaling may be used to increase or reduce the size of object.

 Scaling subjects the coordinate points of the original object to change.
 Scaling factor determines whether the object size is to be increased or reduced.
 If scaling factor > 1, then the object size is increased.
 If scaling factor < 1, then the object size is reduced.
Consider a point object O has to be scaled in a 3D plane.

Let-

 Initial coordinates of the object O = (Xold, Yold,Zold)

 Scaling factor for X-axis = Sx
 Scaling factor for Y-axis = Sy
 Scaling factor for Z-axis = Sz
 New coordinates of the object O after scaling = (Xnew, Ynew, Znew)
This scaling is achieved by using the following scaling equations-

 Xnew = Xold x Sx
 Ynew = Yold x Sy
 Znew = Zold x Sz
In Matrix form, the above scaling equations may be represented as-

Problem-01:
Given a 3D object with coordinate points A(0, 3, 3), B(3, 3, 6), C(3, 0, 1), D(0, 0, 0). Apply the
scaling parameter 2 towards X axis, 3 towards Y axis and 3 towards Z axis and obtain the
new coordinates of the object.

Solution-
 Given-

 Old coordinates of the object = A (0, 3, 3), B(3, 3, 6), C(3, 0, 1), D(0, 0, 0)
 Scaling factor along X axis = 2
 Scaling factor along Y axis = 3
 Scaling factor along Z axis = 3
For Coordinates A(0, 3, 3)
Let the new coordinates of A after scaling = (X new, Ynew, Znew).

Applying the scaling equations, we have-

 Xnew = Xold x Sx = 0 x 2 = 0

 Ynew = Yold x Sy = 3 x 3 = 9
 Znew = Zold x Sz = 3 x 3 = 9
Thus, New coordinates of corner A after scaling = (0, 9, 9).

For Coordinates B(3, 3, 6)

Let the new coordinates of B after scaling = (X new, Ynew, Znew).

Applying the scaling equations, we have-

 Xnew = Xold x Sx = 3 x 2 = 6

 Ynew = Yold x Sy = 3 x 3 = 9
 Znew = Zold x Sz = 6 x 3 = 18
Thus, New coordinates of corner B after scaling = (6, 9, 18).

For Coordinates C(3, 0, 1)

Let the new coordinates of C after scaling = (Xnew, Ynew, Znew).

Applying the scaling equations, we have-

 Xnew = Xold x Sx = 3 x 2 = 6

 Ynew = Yold x Sy = 0 x 3 = 0
 Znew = Zold x Sz = 1 x 3 = 3
Thus, New coordinates of corner C after scaling = (6, 0, 3).

For Coordinates D(0, 0, 0)

Let the new coordinates of D after scaling = (Xnew, Ynew, Znew).

Applying the scaling equations, we have-

 Xnew = Xold x Sx = 0 x 2 = 0

 Ynew = Yold x Sy = 0 x 3 = 0
 Znew = Zold x Sz = 0 x 3 = 0

Thus, New coordinates of corner D after scaling = (0, 0, 0).

3D Reflection
 Reflection is a kind of rotation where the angle of rotation is 180 degree.
 The reflected object is always formed on the other side of mirror.
 The size of reflected object is same as the size of original object.
Consider a point object O has to be reflected in a 3D plane.

Let-

 Initial coordinates of the object O = (Xold, Yold, Zold)

 New coordinates of the reflected object O after reflection = (X new, Ynew,Znew)
 

In 3 dimensions, there are 3 possible types of reflection-

 Reflection relative to XY plane
 Reflection relative to YZ plane
 Reflection relative to XZ plane
Reflection Relative to XY Plane:
This reflection is achieved by using the following reflection equations-

 Xnew = Xold
 Ynew = Yold
 Znew = -Zold
In Matrix form, the above reflection equations may be represented as-

Reflection Relative to YZ Plane:

This reflection is achieved by using the following reflection equations-

 Xnew = -Xold
 Ynew = Yold
 Znew = Zold
In Matrix form, the above reflection equations may be represented as-

Reflection Relative to XZ Plane:

This reflection is achieved by using the following reflection equations-

 Xnew = Xold
 Ynew = -Yold
 Znew = Zold
In Matrix form, the above reflection equations may be represented as-
 Problem-01:
Given a 3D triangle with coordinate points A(3, 4, 1), B(6, 4, 2), C(5, 6, 3). Apply the reflection
on the XY plane and find out the new coordinates of the object.

Solution-
Given-

 Old corner coordinates of the triangle = A (3, 4, 1), B(6, 4, 2), C(5, 6, 3)
 Reflection has to be taken on the XY plane
For Coordinates A(3, 4, 1)
Let the new coordinates of corner A after reflection = (X new, Ynew, Znew).

Applying the reflection equations, we have-

 Xnew = Xold = 3
 Ynew = Yold = 4
 Znew = -Zold = -1
Thus, New coordinates of corner A after reflection = (3, 4, -1).

For Coordinates B(6, 4, 2)

Let the new coordinates of corner B after reflection = (X new, Ynew, Znew).

Applying the reflection equations, we have-

 Xnew = Xold = 6
 Ynew = Yold = 4
 Znew = -Zold = -2
Thus, New coordinates of corner B after reflection = (6, 4, -2).

For Coordinates C(5, 6, 3)

Let the new coordinates of corner C after reflection = (X new, Ynew, Znew).

Applying the reflection equations, we have-

 Xnew = Xold = 5
 Ynew = Yold = 6
 Znew = -Zold = -3
Thus, New coordinates of corner C after reflection = (5, 6, -3).

Thus, New coordinates of the triangle after reflection = A (3, 4, -1), B(6, 4, -2), C(5, 6, -3).

Problem-02:
Given a 3D triangle with coordinate points A(3, 4, 1), B(6, 4, 2), C(5, 6, 3). Apply the reflection
on the XZ plane and find out the new coordinates of the object.

Solution-
Given-

 Old corner coordinates of the triangle = A (3, 4, 1), B(6, 4, 2), C(5, 6, 3)
 Reflection has to be taken on the XZ plane
 

For Coordinates A(3, 4, 1)

Let the new coordinates of corner A after reflection = (X new, Ynew, Znew).

Applying the reflection equations, we have-

 Xnew = Xold = 3
 Ynew = -Yold = -4
 Znew = Zold = 1
Thus, New coordinates of corner A after reflection = (3, -4, 1).

For Coordinates B(6, 4, 2)

Let the new coordinates of corner B after reflection = (X new, Ynew, Znew).

Applying the reflection equations, we have-

 Xnew = Xold = 6
 Ynew = -Yold = -4
 Znew = Zold = 2
Thus, New coordinates of corner B after reflection = (6, -4, 2).

For Coordinates C(5, 6, 3)

Let the new coordinates of corner C after reflection = (X new, Ynew, Znew).

Applying the reflection equations, we have-

 Xnew = Xold = 5
 Ynew = -Yold = -6
 Znew = Zold = 3
Thus, New coordinates of corner C after reflection = (5, -6, 3).

3D Shearing
3D Shearing is an ideal technique to change the shape of an existing object in a three
dimensional plane.
In a three dimensional plane, the object size can be changed along X direction, Y direction as
well as Z direction.

So, there are three versions of shearing-

Consider a point object O has to be sheared in a 3D plane.

Let-

 Initial coordinates of the object O = (Xold, Yold, Zold)

 Shearing parameter towards X direction = Shx
 Shearing parameter towards Y direction = Shy
 Shearing parameter towards Z direction = Shz
 New coordinates of the object O after shearing = (X new, Ynew, Znew)
Shearing in X Axis-
Shearing in X axis is achieved by using the following shearing equations-

 Xnew = Xold
 Ynew = Yold + Shy x Xold
 Znew = Zold + Shz x Xold
In Matrix form, the above shearing equations may be represented as-

Shearing in Y Axis-
Shearing in Y axis is achieved by using the following shearing equations-

 Xnew = Xold + Shx x Yold

 Ynew = Yold
 Znew = Zold + Shz x Yold
 

In Matrix form, the above shearing equations may be represented as-

Shearing in Z Axis-
Shearing in Z axis is achieved by using the following shearing equations-

 Xnew = Xold + Shx x Zold

 Ynew = Yold + Shy x Zold
 Znew = Zold 
In Matrix form, the above shearing equations may be represented as-

Problem-01:
Given a 3D triangle with points (0, 0, 0), (1, 1, 2) and (1, 1, 3). Apply shear parameter 2 on X
axis, 2 on Y axis and 3 on Z axis and find out the new coordinates of the object.

Solution-
Given-

 Old corner coordinates of the triangle = A (0, 0, 0), B(1, 1, 2), C(1, 1, 3)
 Shearing parameter towards X direction (Shx) = 2
 Shearing parameter towards Y direction (Shy) = 2
 Shearing parameter towards Y direction (Shz) = 3
Shearing in X Axis-
 

For Coordinates A(0, 0, 0)

 Let the new coordinates of corner A after shearing = (X new, Ynew, Znew).

Applying the shearing equations, we have-

 Xnew = Xold = 0
 Ynew = Yold + Shy x Xold = 0 + 2 x 0 = 0
 Znew = Zold + Shz x Xold = 0 + 3 x 0 = 0
Thus, New coordinates of corner A after shearing = (0, 0, 0).

For Coordinates B(1, 1, 2)

Let the new coordinates of corner B after shearing = (X new, Ynew, Znew).

Applying the shearing equations, we have-

 Xnew = Xold = 1
 Ynew = Yold + Shy x Xold = 1 + 2 x 1 = 3
 Znew = Zold + Shz x Xold = 2 + 3 x 1 = 5
Thus, New coordinates of corner B after shearing = (1, 3, 5).

For Coordinates C(1, 1, 3)

Let the new coordinates of corner C after shearing = (X new, Ynew, Znew).

Applying the shearing equations, we have-

 Xnew = Xold = 1
 Ynew = Yold + Shy x Xold = 1 + 2 x 1 = 3
 Znew = Zold + Shz x Xold = 3 + 3 x 1 = 6
Thus, New coordinates of corner C after shearing = (1, 3, 6).

Thus, New coordinates of the triangle after shearing in X axis = A (0, 0, 0), B(1, 3, 5), C(1, 3,
6).

Shearing in Y Axis-
For Coordinates A(0, 0, 0)
Let the new coordinates of corner A after shearing = (X new, Ynew, Znew).

Applying the shearing equations, we have-

 Xnew = Xold + Shx x Yold = 0 + 2 x 0 = 0

 Ynew = Yold = 0
 Znew = Zold + Shz x Yold = 0 + 3 x 0 = 0
 

Thus, New coordinates of corner A after shearing = (0, 0, 0).

For Coordinates B(1, 1, 2)

Let the new coordinates of corner B after shearing = (X new, Ynew, Znew).

Applying the shearing equations, we have-

 Xnew = Xold + Shx x Yold = 1 + 2 x 1 = 3

 Ynew = Yold = 1
 Znew = Zold + Shz x Yold = 2 + 3 x 1 = 5
Thus, New coordinates of corner B after shearing = (3, 1, 5).

For Coordinates C(1, 1, 3)

Let the new coordinates of corner C after shearing = (X new, Ynew, Znew).

Applying the shearing equations, we have-

 Xnew = Xold + Shx x Yold = 1 + 2 x 1 = 3

 Ynew = Yold = 1
 Znew = Zold + Shz x Yold = 3 + 3 x 1 = 6
Thus, New coordinates of corner C after shearing = (3, 1, 6).

Thus, New coordinates of the triangle after shearing in Y axis = A (0, 0, 0), B(3, 1, 5), C(3, 1,
6).

Shearing in Z Axis-
For Coordinates A(0, 0, 0)
Let the new coordinates of corner A after shearing = (X new, Ynew, Znew).

Applying the shearing equations, we have-

 Xnew = Xold + Shx x Zold = 0 + 2 x 0 = 0

 Ynew = Yold + Shy x Zold = 0 + 2 x 0 = 0
 Znew = Zold = 0
Thus, New coordinates of corner A after shearing = (0, 0, 0).

For Coordinates B(1, 1, 2)

Let the new coordinates of corner B after shearing = (X new, Ynew, Znew).

Applying the shearing equations, we have-

 Xnew = Xold + Shx x Zold = 1 + 2 x 2 = 5

 Ynew = Yold + Shy x Zold = 1 + 2 x 2 = 5
 Znew = Zold = 2
Thus, New coordinates of corner B after shearing = (5, 5, 2).

For Coordinates C(1, 1, 3)

Let the new coordinates of corner C after shearing = (X new, Ynew, Znew).

Applying the shearing equations, we have-

 Xnew = Xold + Shx x Zold = 1 + 2 x 3 = 7

 Ynew = Yold + Shy x Zold = 1 + 2 x 3 = 7
 Znew = Zold = 3
Thus, New coordinates of corner C after shearing = (7, 7, 3).