Lecture 3: Transformations

and Viewing

General Idea

Object in model coordinates Transform into world coordinates Represent points on object as vectors Multiply by matrices

What next?

2D transformations: scale, shear, rotation Composing transformations 3D rotations

(Nonuniform) Scale

1

11

0

0

0

0

y

x

y

x

s

sS

s

sS

1

1

1

1

00

00

00

00

00

00

z

y

x

z

y

x

s

s

s

S

s

s

s

S

z

y

x

zs

ys

xs

z

y

x

s

s

s

z

y

x

z

y

x

00

00

00

Shear

y

ayx

y

xa

y

x

aSH

aSH

10

1

10

1

10

1 1

Rotations

2D rotations are simple

Can we derive it?

y

x

y

xR

cossin

sincos

cossin

sincos

)...cos(

cos

rx

rx

x,y

x’,y’

Rotations, contd.

Basic properties…

Linear Commutative

R(X+Y)=R(X)+R(Y)

Outline

2D transformations: rotation, scale, shear Composing transforms 3D rotations Translation: Homogeneous Coordinates Transforming Normals

Composing Transforms

Usually we build a complex transformation by composing simple ones (for which we have matrix patterns)

E.g. first scale then rotate We see now advantage of matrix formulation:

Transformation is performed for many points Complex transformation is in advanced put into a

single matrix In general not commutative!! Order matters

E.g. Composing rotations, scales In terms of functions:

In terms of matrices: RS is also a matrix RS ≠ SR, not commutative

)())((

)()(

pRSpSRp

pRppSp

Composing example

Inverting Composite Transforms Say, we want to invert a combination of 3

transforms Option 1: Find composite matrix, invert Option 2: Invert each transform and swap

order Obvious from properties of matrices

1231

31

21

11

13

12

11

1

123

MMMMMMMM

MMMM

MMMM

Outline

2D transformations: rotation, scale, shear Composing transforms 3D rotations Translation: Homogeneous Coordinates Transforming Normals

Orthogonal matrixMatrix A is orthogonal if and only if

E.g. Rotation matrix is orthogonal. Check it.

22

22

cossinsincoscossin

cossinsincossincos

cossin

sincos

cossin

sincosRRT

Orthogonal matrixImportant and useful property:

It is much faster to transpose a matrix, than to invert it

Rotations in 3D Rotations about coordinate axes is a simple

extension of 2D rotations

Again orthogonal matrices

cossin0

sincos0

001

xR

cos0sin

010

sin0cos

yR

100

0cossin

0sincos

zR

Interpretation 3D Rotations Matrix Rows of matrix are the vectors of new

coordinate system (the rotated one) Old coordinate frame: x, y, z versors After transformation:

we have new uvw coordinate frame

www

vvv

uuu

uvw

zyx

zyx

zyx

R

Geometric Interpretation 3D Rotations

Rows of matrix are 3 unit vectors of new coord frame

Can construct rotation matrix from 3 orthonormal vectors

Effectively, projections of point into new coord frame

New coord frame uvw taken to cartesian components xyz

Inverse or transpose takes xyz cartesian to uvw

Non-Commutativity

Not Commutative (unlike in 2D)!! Rotate by x, then y is not same as y then x Order of applying rotations does matter Follows from matrix multiplication not

commutative R1 * R2 is not the same as R2 * R1

Translation

Translation is probably the simplest transformation (is it?), but there’s something tricky about it

E.g. move x by +7 units, leave y, z unchanged:

How to express it in a matrix form? I.e.

zz

yy

xx

7

?

z

y

x

z

y

x

z

y

x 7

?

Homogeneous Coordinates

We need to add a fourth coordinate (w=1). It’s quite common way in linear algebra, to get rid off free terms.

4x4 matrices in 3D space - very common in computer graphics

w may look like a dummy variable – but may play it’s role

w

z

y

x

w

z

y

x

1000

0100

0010

7001

Representation of Points (4-Vectors)

Homogeneous coordinates

Divide by 4th coord (w) to get (inhomogeneous) point

Multiplication by w > 0, no effect

Assume w ≥ 0. For w > 0, normal finite point. For w = 0, point at infinity (used for vectors to stop translation)

1

/

/

/

wz

wy

wx

w

z

y

x

P

What are the Advantages of Homogeneous Coords?

Unified framework for translation and other transformations

Only 4x4 matrix – easy to concatenate Less problems with perspective viewing No special cases – homogenous formulas

General Translation Matrix

w

Tz

Ty

Tx

w

z

y

x

T

T

T

p

T

T

T

z

y

x

z

y

x

z

y

x

1000

100

010

001

1000

100

010

001

T

T

3 basic Rotation Matrices

1000

0)cos()sin(0

0)sin()cos(0

0001

xR

1000

0)cos(0)sin(

0010

0)sin(0)cos(

yR

1000

0100

00)cos()sin(

00)sin()cos(

zR

Combining Translations, Rotations

Order matters!! TR is not the same as RT (demo) General form for rigid body transforms We show rotation first, then translation

(commonly used to position objects) on next slide. Slide after that works it out the other way

Combining Translations, Rotations

First Rotation, then Translation First Translation, then Rotation

Geometry Transformation

Podstawy OpenGL

Transformations are composed of four elements

• Viewing transformation – positioning the camera

• Modeling transformation - moving objects

(Viewing and Modeling are complementary)

• Projection – on the plane

• Viewport – mapping on the window

Camera analogy

Podstawy OpenGL

Camera analogy contd.

Podstawy OpenGL

Two ways of making transformation in OpenGL First approach:

we operate directly on matrices Second approach:

we hide matrix transformations inside functions

Which one is better?

Two ways of making transformation in OpenGL Functions typical to ”old” OpenGL. Cancelled in OpenGL 3.0 Transformations and Projections moved to

shader programming. Not everyone likes low-level shader

programming. Search for new functions…

GLM – OpenGL Mathematics Can be easily found on

glm.g-truc.net/  , along with other information Can be treated as enhancement of GLSL. Is included into unofficial OpenGL SDK

Viewing

Motivation

We have seen transforms (between coord systems)

But all that is in 3D We still need to make a 2D picture Project 3D to 2D. How do we do this? This lecture is about viewing transformations

Demo (Projection Tutorial) Nate Robbins OpenGL

tutors http://user.xmission.com/~nate/ Projection tutorial Old OpenGL Style

Demo

What we’ve seen so far Transforms (translation, rotation, scale) as 4x4

homogeneous matrices Last row always 0 0 0 1. Last w component always

1

For viewing (perspective), we will use that last row and w component no longer 1 (must divide by it)

Outline

Orthographic projection (simpler) Perspective projection, basic idea Derivation of gluPerspective (handout:

glFrustum) Brief discussion of nonlinear mapping in z

Projections

To lower dimensional space (here 3D -> 2D) Preserve straight lines Trivial example: Drop one coordinate

(Orthographic)

Orthographic Projection Characteristic: Parallel lines remain parallel Useful for technical drawings etc.

Orthographic Perspective

Example Simply project onto xy plane, drop z

coordinate

In general We have a cuboid that we want to map to the

normalized or square cube from [-1, +1] in all axes

We have parameters of cuboid (l,r ; t,b; n,f)

x

z

y

l r

t

bn

f

x

z

Translate

y

x

z

y

Scale

Orthographic Matrix First center cuboid by translating Then scale into unit cube

x

z

y

l r

t

bn

f

x

z

Translate

y

x

z

y

Scale

Transformation Matrix

Scale Translation

10002

100

2010

2001

1000

02

00

002

0

0002

nf

bt

rl

fn

bt

lr

P

Caveats Looking down –z, f and n are negative (n > f) OpenGL convention: positive n, f, negate

internally

x

z

y

l r

t

bn

f

x

z

Translate

y

x

z

y

Scale

1000

200

02

0

002

nf

nf

fn

bt

bt

bt

lr

lr

lr

Ortho

Final Result

1000

200

02

0

002

nf

nf

fn

bt

bt

bt

lr

lr

lr

P

Outline

Orthographic projection (simpler) Perspective projection, basic idea Derivation of gluPerspective (handout: glFrustum) Brief discussion of nonlinear mapping in z

Perspective Projection

Most common computer graphics, art, visual system

Further objects are smaller (size, inverse distance) Parallel lines not parallel; converge to single point

B

A’

B’

Center of projection(camera/eye location)

APlane of Projection

Slides inspired by Greg Humphreys

Overhead View of Our Screen

Looks like we’ve got some nice similar triangles here?

d

(0,0,0)

(x,y,z)(x’,y’,z’ )

z

dxx

d

x

z

x '

'

In Matrices

Note negation of z coord (focal plane –d) (Only) last row affected (no longer 0 0 0 1) w coord will no longer = 1. Must divide at end

01

00

0000

0000

0001

d

Ortho

Verify

d

zz

y

x

z

y

x

d 101

00

0000

0000

0001

Outline

Orthographic projection (simpler) Perspective projection, basic idea Derivation of gluPerspective (handout:

glFrustum) Brief discussion of nonlinear mapping in z

Remember projection tutorial

Viewing Frustum

Near plane

Far plane

Screen (Projection Plane)

Field of view(fovy)

width

height

Aspect ratio = width / height

gluPerspective

gluPerspective(fovy, aspect, zNear > 0, zFar > 0)

Fovy, aspect control fov in x, y directions zNear, zFar control viewing frustum

In Matrices

Simplest form:

Aspect ratio taken into account Homogeneous, simpler to multiply through by d Must map z vals based on near, far planes (not

yet)

01

00

0000

0000

0001

d

aspect

Ortho