3D Transformations

Computer Graphics
3D Transformations
From 2D to 3D
• Translation is simple as in 2D
• Use of Homogeneous coordinate in 3D
– In 3D transformation always use Matrix: 4x4
• All transformation in 3D is simple but only
Rotation transformation is complex in 3D
transformation.
3D Translation
Translate using (tx, ty, tz ): y
x’=x+ tx, y’=y+ ty , z’=z+ tz P+T

T
or P
P' P  T, met
x
 x'   x  tx 
     
P '  y '  , P  y  en T  t y 
z
 z'   z t 
     z
3D Translation 2
In 4D homogeneous coordinates: y
P' MP, or T P+T
 x'   1 0 0 t x  x  P
     x
 y'  0 1 0 t y  y 
 z '   0 0 1 t z  z 
     z
 1  0 0 0 1   1 
  
3D Rotation 1
Rotate over angle  around z - as :
x' x cos   y sin 
y ' x sin   y cos  z
y
z ' z P’
Or 
P' R z ( )P, with P
 cos   sin  0 0 x
 
 sin  cos  0 0
R z ( ) 
0 0 1 0
 
 0 0 0 1 

2D Rotation about the origin.
x r. cos(   ) r. cos  . cos  r. sin  . sin 
y y r. sin(   ) r. cos  . sin   r. sin  . cos
P’(x’,y’)
P(x,y)
r x r. cos 
y r. sin 
 y
r

x
x
3D Rotation 2
z y z y z y
x x x
Rotation around axis:

- Counterclockwise, viewed from rotation axis
3D Rotation 3
z x z x y
z y y z y
x y y z
y z z x
x x x
Rotation around axes:

Cyclic permutation coordinate axes
x y z x
3D Rotation
Rotate over angle  around z - as : Rotate over angle  around x - as :
x' x cos   y sin  y '  y cos   z sin 
z x
y ' x sin   y cos  z '  y sin   z cos 
x y x' x
z ' z
Or y z Or
P' R z ( )P, with P' R x ( )P, with
 cos   sin  0 0 1 0 0 0
   
 sin  cos  0 0  0 cos   sin  0
R z ( )  R x ( ) 
0 0 1 0 0 sin  cos  0
   
 0 0 0 1  0 0 0 1 
 
3D scaling
Scale with factors sx, sy,sz :
x’= sx x, y’= sy y, z’= sz z
or P' SP, or
 x'   s x 0 0 0  x 
    
 y'  0 sy 0 0  y 
 z '   0 0 sz 0  z 
    
1  0 0 0 1   1 
  
3D scaling
3D Shearing about X,Y,Z Axis
 1 0 0 0  1 Shx 0 0  1 0 Shx 0 
 shy 1 0 0   0 1 0 0 0
    1 Shy 0 
 shz 0 1 0  0 Shz 1 0  0
  0 1 0
   
 0 0 0 1  0 0 0 1 0 0 0 1
• Shearing about X axis- X coordinate will not change but
change in Y and Z axis coordinate.
• Shearing about Y axis- Y coordinate will not change and
changes are made only in X and Z axis.
• Shearing about Z axis- Z coordinate will not change but
change in X and Y axis.
Combine 3D Transformation
3D Combine Transformations
Rotation About axis that is parallel to
X-axis
3D Rotation around arbitrary axis 2
Rotation around axis through two points P1 and P1 .
More complex:
1.Translate such that axis goes through origin;
2.Rotate…
3.Translate back again.
y P2
P1
z x
H&B 9-2:305-313
y P2 y P2'
y
P1 P1' P1'
x x z x
z z ''
P
2
Initial 1. translate axis 2. rotate axis

y y P2' y P2
P1' P1' P1
z x x
''
P
2 z z x
3. rotate around 4. rotate back 5. translate back
z-axis
y P2 y P2'
y
P1 T(P1) ' R
P' P
1
1
x x z x
z z ''
P
2

y y P2' y P2
Rz()
' R1 T(P1)
P1 P' P1
1
z x x
''
P
2 z z x
z-axis
M = T(P1) R1Rz() RT(P1)
y P2 y P2'
y
P1 T(P1) ' R
P' P
1
1
x x z x
z z ''
P
2

y y P2' y P2
Rz()
' R1 T(P1)
P1 P' P1
1
z x x
''
P
2 z z x
z-axis
Question
• Translate a Pyramid whose coordinates are
(0,0,0), (1,0,0) (0,0,1) and (0,1,0). Translate
this pyramid 3 unit x, y, z direction and find
out final transformed matrix.
Thank You!!

3D Transformations

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3D Transformations

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x’=x+ tx, y’=y+ ty , z’=z+ tz P+T

P' MP, or T P+T

Rotation around axis:

Rotation around axes:

Initial 1. translate axis 2. rotate axis

Initial 1. translate axis 2. rotate axis

Initial 1. translate axis 2. rotate axis

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