INDIANINSTITUTEOFTECHNOLOGYROORKEE

DEPARTMENTOFCIVILENGINEERING

CE201:ComputerAidedGraphics
Week0910
RajatRastogi
rajatfce@iitr.ernet.in

Previous Lecture
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OutputPrimitives
Output Primitives
Line
Fill
Text
Character
Ch
t

Lecture outline
Lectureoutline
2
2D
DGeometricTransformation
Geometric Transformation
BasicTransformation
CompositeTransformation
Composite Transformation
OtherTransformation

Transformations
Transformation
Transformationofanobjectmeanstransformingall
of an object means transforming all
itspoints
Transformationofapolygoncanbeachievedby
p yg
y
transformingitsvertices

Basic Transformations
BasicTransformations
Scale
Scale
Rotate
Translate
l

Basic Transformations1
BasicTransformations1
Modeling Coordinates
Scale
Translate

Scale
Rotate
Translate

World Coordinates

Basic Transformations2
BasicTransformations2
Modeling Coordinates
y

Initial location
at (0, 0) with
x- and y-axes
aligned

Basic Transformations3
BasicTransformations3
Modeling Coordinates
y

Scale .3, .3
Rotate -90
Translate 5, 3

Basic Transformations4
BasicTransformations4
Modeling Coordinates
y

Scale .3, .3
Rotate -90
Translate 5, 3

Basic Transformations5
BasicTransformations5
Modeling Coordinates
y

Scale .3, .3
Rotate -90
Translate 5, 3

World Coordinates

Scaling
A
Ascalingtransformationaltersthesizeofanobject.
scaling transformation alters the size of an object.
Scaling acoordinatemeansmultiplyingeachofits
componentsbyascalarorscalingfactor(s
p
y
g
( x andsy)
Transformedcoordinateswillbe:
x=x.sx

yy=y.s
y y

((1))

Thiscanbewritteninmatrixformas
x' s x
y ' = 0

0 x
.

s y y

(2)

Scaling1
Uniformscalingg meansthisscalarisassignedthe
g
samevalueforallthecomponents

Scaling2
Nonuniformscaling:Differentscalarsareusedfor
g
thetwocoordinates

X 2,
Y 0.5

Scalingalsorepositionthetransformedobjectswith
respect to the coordinate origin
respecttothecoordinateorigin.

Scaling3
A
Afixedpointisusedtocontrolthechangeinposition
fixed point is used to control the change in position
ofanobjectafterScalingoperation.Thisfixedpoint
maybeavertexoracentreoranyotherpositionon
anobject.If(xf,yf)arethecoordinatesofafixed
point,then,
x=xf +(x xf).sx
y=yf +(y yf).sy
(3)
x=x.sx +(1 sx).xf
yy=y.s
= y sy +(1
+ (1 sy).y
) yf
(4)
Thisisacombinationofmultiplicativeandadditiveterms

Scaling4
General
Generalformofascalingmatrixwithrespecttoa
form of a scaling matrix with respect to a
fixedpointP(h,k).

S a ,b, P = T v .S a ,b .Tv

1
0
0

0
1
0

h a

k 0
1 0

a
0
0

0
b
0

ah h

bk k

0
b
0

0
0
1

0
0

0
1
0

h
k
1

2D
2
DRotation
Rotation
Two
Twodimensionalrotationisappliedtoanobjectby
dimensional rotation is applied to an object by
repositioningitalongacircularpathinthexy plane.
P
Twoinformationarerequired:
q
Rotationangle
Pivotpointorrotationpoint(xr,yr)

(Xr yr)

Positivevaluesofrotationangledefine
counterclockwiserotationaboutthepivotpointand
negativevaluesrotateobjectinclockwisedirection

2D
2
DRotation1
Rotation1
x=rcos()
y=rsin()
x=rcos( +)
y=rsin( +)

(x,y)

(x,y)

r
r

(5)
(6)

TrigIdentity
x =rcos()cos()
x
r cos() cos() rsin()sin()
r sin() sin()
y=rsin()sin()+rcos()cos() (7)

Substitute
Substitute
x=xcos() ysin()
y=xsin()+ycos()

(8)

2D
2
DRotation2
Rotation2
Thisiseasytocaptureinmatrixform:
y
p
x' cos( ) sin ( ) x
y ' = sin ( ) cos( ) y

(9)

Eventhoughsin()andcos()arenonlinearfunctionsof
,
xisalinearcombinationofxandy
yisalinearcombinationofxandy

Ifpivotpointis(x
If pivot point is (xr,yyr)insteadof(0,0),then
) instead of (0 0) then
x=xr +(x xr)cos (y yr)sin
y=yr +(x xr)sin +(y yr)cos

(10)

Example 1
Example1
Findthematrixthat
representrotationofan
objectby30o aboutorigin
and the new coordinates of
andthenewcoordinatesof
apoint(2,4)afterrotation

3
1

cos 30 sin 30 2 2
sin 30 cos 30 =
1
3

2
2
3
1

2 3 + 2
2 =
2

1
3 4 1 2 3

2
2

Example 2
Example2
Describe
Describethetransformationthatrotatesanobject
the transformation that rotates an object
point,Q(x,y),0 aboutafixedcenterofrotationP(h,
k)
TransformationR,p isdonein3steps:
1.TranslatesothatthecentreofrotationP isattheorigin,
2.Performarotationof degreesabouttheorigin,and
3.TranslateP backto(h,k).
FindR
Find R,p byusingtransformation:
b sing transformation
R,p =Tv R Tv

Example 21
Example21
Describe
Describethetransformationthatrotatesanobject
the transformation that rotates an object
point,Q(x,y),0 aboutafixedcenterofrotationP(h,
k)
Generalformofthematrixwouldbe:
1 0 h cos

R , p = 0 1 k sin
0 0 1 0

cos

= sin
0

sin
cos
0

sin
cos
0

0 1 0 h

0 0 1 k
1 0 0 1

( h cos + k sin + h)

( h sin k cos + k )

Translation
Translation
Translationtransformationrepositionanobjectalong
transformation reposition an object along
astraightlinepath
Translationdistanceisaddedtotheoriginal
g
coordinatestomovetoanewposition
p
y
y
Apointmovesfrom(x,y)to(x,y),then
x=x+tx,

y=y+ty

(11)

Translationdistancepair(tx,ty)is
calledatranslationvectorora
shiftvector

P
T
P
tx

ty

Translation1
Inmatrixform,itcanbedefinedas:
In matrix form, it can be defined as:
x ' x t x
' = +
y y t y

(12)

Thisisarigidbodytransformationthatmoves
objectswithoutdeformation.
2
1

2D Transformation
2DTransformation
(x,y)
(x,y)

( a, b)

x ' a 0 x
y ' = 0 b y


scaling matrix
scalingmatrix

x a x + a x'
y + b = y + b = y '


x' cos( ) sin ( ) x
y ' = sin ( ) cos( ) y


rotation matrix
rotationmatrix

24

2D Transformation1
2DTransformation1
(x,y)
(x,y)

( a, b)

matrixmultiplication

x ' a 0 x
y ' = 0 b y


scaling matrix
scalingmatrix

vectoraddition
x a x + a x'
y + b = y + b = y '


matrixmultiplication
x' cos( ) sin ( ) x
y ' = sin ( ) cos( ) y


rotation matrix
rotationmatrix

25

2D Transformation2
2DTransformation2
vectoraddition
x a x + a x'
y + b = y + b = y '

(x,y)
(x,y)

( a, b)

matrixmultiplication

x' s x
y ' = 0

0 x
s y y

matrixmultiplication
x' cos( ) sin ( ) x
y ' = sin ( ) cos( ) y

scaling matrix
scalingmatrix

rotation matrix
rotationmatrix

a b x x'
c d y = y'

translationmultiplicationmatrix??

26

Matrix Representation
MatrixRepresentation
Represents2Dtransformationwithmatrix
Represents 2D transformation with matrix
Multiplymatrixbycolumnvectortoapply
transformation to a point
transformationtoapoint
x' a b x
y'' = c d y

x' = ax + by
y ' = cx + dy
d

Incaseasequenceoftransformationshavetobe
applied,thesehavetobedoneinstepbystep
li d th
h
t b d
i t b t
procedure,applyingonetransformationatatime
27

Matrix Representation1
MatrixRepresentation1
A
Amoreefficientapproachwouldbetocombinethe
more efficient approach would be to combine the
transformationssothatthefinalcoordinatescanbe
obtaineddirectlyfromtheinitialcoordinates.
Transformationscombinedbymultiplication
x' a b d
y ' = c d f

e h i x
g j k y

Thisneedsreplacementofa2x2matrixbya3x3
matrix
28

Homogeneous Coordinates
HomogeneousCoordinates

x
y

point in 2D cartesian
pointin2Dcartesian

y
29

Homogeneous Coordinates...1
HomogeneousCoordinates...1
wisanonzerovalue

Infinitehomogenous
representations

Simplestform(x,y,1)
FormsalineLin3D
Allhomogeneouspoints
All homogeneous points
onLrepresentsame2D
Cartesianpoint
Example:(2,2,1)=(4,4,2)
Cartesian
=(1,1,0.5)

Homogeneous

( xh , yh , w)

xh y h
( , )
w w

30

Homogeneous Coordinates2
HomogeneousCoordinates2
Thebasictransformationmatriceswouldbe:
The basic transformation matrices would be:
sx
Scale = 0
0
1

Translation = 0
0

0
sy
0
0
1
0

0
0
1
tx

ty
1

cos( ) sin( ) 0
Rotation = sin( ) cos( ) 0
0
0
1

Example:Translation
Example: Translation
1 0 a x x 1 + a 1 x + a
0 1 b y = y 1 + b 1 = y + b

1
0 0 1 1
1
31

Homogeneous Coordinates3
HomogeneousCoordinates3
Adda3rdcoordinatetoevery2Dpoint
Add a 3rd coordinate to every 2D point
(xh,yh,w)representsapointatlocation(xh/w,yh/w)
(x,y,0)representsapointatinfinity
(0,0,0)isnotallowed
y

(2,1,1)

1
Convenient coordinate system to
represent many useful
transformations

or (4,2,2)

or (6,3,3)

Homogeneous Coordinates4
HomogeneousCoordinates4
Basic2Dtransformationsas3x3matrices
Basic 2D transformations as 3x3 matrices
x ' 1 0 t x x
y ' = 0 1 t y
y

1 0 0 1 1

x ' s x
y ' = 0

1 0

Translate [P = T(tx, ty).P]

x' cos
y ' = sin

1 0

sin
cos
0

0 x
0 y
1 1

Rotate [[P = R().P]

( ) ]

0
sy
0

0 x
0 y
1 1

Scale [P = S(sx, sy).P]

Composite Transformations
CompositeTransformations
Products
Productsoftransformationmatricesistermedas
of transformation matrices is termed as
compositionorconcatenationofmatrices
Thisisformedbymultiplyingmatricesinorder,i.e.
y
py g
,
fromrighttoleft
Thismeansthateachsuccessivetransformation
matrixpremultipliestheproductofthepreceding
transformationmatrices.
Concatenationproperty
A.B.C=(A.B).C=A.(B.C)
34

Composite Transformations1
CompositeTransformations1
Translation
Iftwosuccessivetranslationvectors(tx1,ty1)and(tx2,ty2)
areapplied,then
P=T(tx2,ty2).{T(tx1,ty1).P}
P={T(tx2,ty2).T(tx1,ty1)}.P={T(tx1+tx2,ty1+ty2)}.P
1 0 t x 2 1 0 t x1 1 0 t x1 + t x 2
T 2 T 1 = 0 1 t y 2 .0 1 t y1 = 0 1 t y1 + t y 2
0 0 1 0 0 1 0 0

35

Composite Transformations2
CompositeTransformations2
Scaling
Similarly,twosuccessivescalingoperationsaredealtas
0 0 s x1 0
s x2
S ( s x 2 , s y 2 ).S ( s x1 , s y1 ) = 0
s y 2 0 . 0 s y1
0
0 1 0
0
0
0
s x1.s x 2
= 0
s y1.s y 2 0
0
0
1

0
0
1

36

Composite Transformations3
CompositeTransformations3
GeneralFixedPointScaling
General Fixed Point Scaling
Translateobjectsothatthefixedpointcoincideswiththe
coordinateorigin
Scaletheobjectwithrespecttothecoordinateorigin
Useinversetranslationtoreturnontheoriginalposition
T(x
( f,yf).S(s
) ( x,sy).T(x
) ( f,yf)=S(x
) ( f,yf,sx,sy)
1 0
0 1

0 0

x f sx
y f . 0
1 0

0
sy
0

0 1 0
0 .0 1
1 0 0

x f sx
y f = 0
1 0

0
sy
0

x f (1 s x )
y f (1 s y )

Composite Transformations4
CompositeTransformations4
GeneralFixedPointScaling
General Fixed Point Scaling

(xr,yr)

c
b

Example 2
Example2
MagnifythetrianglewithverticesA(0,0),B(1,1)andC(5,2)
g y
g
( , ), ( , )
( , )
totwiceitssizewhilekeepingC(5,2)fixed
Homogeneous coordinates
of vertices

0 1 5

0
1
2

1 1 1

Transformation
a s o a o Matrix
a
((TRT-1)

1 0 5 2 0 0 1 0 5 2 0 5
0 1 2 0 2 0 0 1 2 = 0 2 2

0 0 1 0 0 1 0 0 1 0 0 1

Transformation of triangle

2 0 5 0 1 5 5 3 5
0 2 2) 0 1 2 = 2 0 2

0 0 1 1 1 1 1
1 1

Transformed vertices
A (-5, -2)
B (-3, 0)
C (5, 2)

Composite Transformations5
CompositeTransformations5
Rotation
cos( 1 + 2)
R ( 2 ).R (1 ) = sin( 1 + 2)

sin( 1 + 2) 0
cos( 1 + 2) 0
0
1

P ' = R (1 + 2 ).P

40

Composite Transformations6
CompositeTransformations6
Translate(2,3,0)
Translate(2 3 0)

Rotate(z 90)
Rotate(z,
Rotate(z,

suppose we want
supposewewant

Fh

i
j

FW

Fh
FW

FW
Fh

p'= R(z,90)p

p''= T(2,3,0)p'

p''= T(2,3,0)R(z,90)p = TRp

41

Composite Transformations7
CompositeTransformations7
GeneralPivotPointRotation
General Pivot Point Rotation
Rotationaboutanyselectedpointcanbegeneratedby
performingthefollowingoperations
Translatetheobjectfrompivotpointtocoordinateorigin
Rotatetheobjectaboutthecoordinateorigin
Translatetheobjectsothatthepivotpointisreturnedtoits
j
p
p
originalposition

Composite Transformations8
CompositeTransformations8

43

Composite Transformations9
CompositeTransformations9
Thistransformationcanbeexpressedas
This transformation can be expressed as
T(xr,yr).R().T(xr,yr)=R(xr,yr,)
where,T(xr,yr)=T1(xr,yr)
1 0 xr cos sin 0 1 0 xr
0 1 y . sin
.0 1 y
cos
0

r
r

0 0 1 0
0
1 0 0
1
cos sin xr (1 cos ) + y r sin
= sin
i
cos
y r (1 cos ) xr sin
i
0

0
1

Composite Transformations10
CompositeTransformations10
translatep
toorigin
to origin

rotateabout
pby:
b

rotateabout
origin

translatep
back

p = ((x,, y)

FW

T(x, y,z)R(z, )T(x,y,z)

45

Example 3
Example3
Perform
Performa45
a 45o rotationofatriangleA(0,0),B(1,1)
rotation of a triangle A (0, 0), B (1, 1)
andC(5,2)aboutorigin
Homogeneous coordinates
of vertices

Rotation
o a o Matrix
a

cos 45 sin 45 0
sin 45 cos 45 0 =

0
0
1

0 1 5

0
1
2

1 1 1

Transformation Matrix

2
2
2
2
0

2
2
2
2
0

0
0
0 1 5

0 0 1 2 = 0

1 1 1 1 1

0
2
1

3 2

2
7 2

2
1

2
2
2
2
0

2
2
2
2
0

Transformed vertices
A (0, 0), B (0, 2), C (32/2, 72/2)

Example 4
Example4
Perform
Performa45
a 45o rotationofatriangleA(0,0),B(1,1)
rotation of a triangle A (0, 0), B (1, 1)
andC(5,2)aboutpoint(1,1)
Homogeneous coordinates
of vertices

0 1 5

0
1
2

1 1 1

1 0 1
0 1 1

0 0 1

Transformation of triangle

2
2
2
2
0

2
2
2
0

Transformation
a s o a o Matrix
a
((TRT-1)
2
2
2
2
0

2
2
2
2
0

1 0 1
0 0 1 1 =

1 0 0 1

2
2
2
2
0

2
2
2
2
0

( 2 1)

Transformed

3 2
1
1
1) vertices
(
1
2

0 1 5

A (-1, 2-1)
9 2

( 2 1) 0 1 2 = ( 2 1) (2 2 1) (
1)

B (-1, 22-1)
1
1
1 1 1 1 1

C (32/2-1, 92/2-1)

Composite Transformations11
CompositeTransformations11
ScalingandRotation
Scaling and Rotation
s1 cos2 + s2 sin2 (s2 s1) cos sin 0

1
2
2
R ( )).S (s1, s2 )).R( ) = (s2 s1) cos sin s1 sin + s2 cos 0

0
0
1

Example:s
Example: s1 =1,s
= 1 s2 =2and
= 2 and
(1/2,3/2)
(0,1)

= 45o
=45

s1
(2,2)

(1,1)
(3/2,1/2)

(0,0)

(1,0)

(0,0)

s2

Composite Transformations12
CompositeTransformations12
Translation,RotationandScaling
Translation, Rotation and Scaling
x ' rs xx
'
y = rs yx
1 0

rs xy

rs yy
0

trs x x
trs y . y
1 1

T (t x , t y ).R( xc , yc , ).S ( xc , yc , sx , s y ) =
sx cos s y sin xc (1 sx cos ) + yc s y sin + t x
s sin s cos y (1 s cos ) x s sin + t
y
c
y
c x
y
x
0

0
1

Composite Transformations13
CompositeTransformations13
Rigidbody
Rigid bodytransformationmatrix(involvingonly
transformation matrix (involving only
TranslationandRotation)
x ' rxx rxy
'
y = ryx ryy
1 0
0

T (t x , t y ).R( xr , yr , ) =

trx x
try . y
1 1

cos sin xr (1 cos ) + yr sin + t x

sin cos y (1 cos ) x sin + t
r
r
y

0
1
0

Other Transformations
OtherTransformations
Reflection
Shear

Reflection
Reflectiontransformationproducesamirrorimageof
p
g
anobject.
Rotationis180o aboutaxisofreflection
Thisaxismaybeinxyplaneorperpendicularto
that.Forreflectionaxisperpendiculartoxyplane,
the rotation path is in x y plane
therotationpathisinxyplane.
Reflectionaboutxaxiskeepsxcoordinatessamebut
p y
y,
y
flipsycoordinate.Similarly,forreflectionabouty
axis,theycoordinatesremainthesameandx
coordinatesareflipped.

Reflection1
Reflectionacrossxaxis
Reflection across x axis

Transformationmatrix
1 0 0
0 1 0

0 0 1
53

Reflection2
Reflectionacrossyaxis
Reflection across y axis
y

Transformationmatrix
1 0 0
0 1 0

0 0 1
54

Reflection3
Reflectionacrossaxisperpendiculartoxyplane
Reflection across axis perpendicular to xy plane
y

Transformationmatrix
1 0 0
0 1 0

0 0 1
55

Reflection4
y

y
g
Original
position

Original
position

Reflected
position
pos
to
x

x
y

Reflected
position
Reflectionaboutxaxis

Reflectionaboutyaxis

Original
position
x

Reflected
Reflectionaboutaxis
perpendiculartoxyplane position

Reflection5
y

Reflected
position

Original
position
y
Reflected
position

Original
Original
position
x

Reflectionaboutaxis
Reflection
about axis
perpendiculartoxyplaneand
passingthroughpivotpointPrfl

Reflectionaboutliney=x

0 1 0
1 0 0

0 0 1

Reflection6
Toobtaintransformationmatrixforreflectionaboutthe
diagonaly=x,thepossiblesequenceoftransformationsis
Rotateclockwisethediagonalby45o makingitequivalenttoxaxis
Performreflectionwithrespecttoxaxis
p
Rotatecounterclockwiseby45o tobringtheliney=xtoitsoriginal
position

Incaseofanyliney=mx
y
y
+b,thesequencewouldbe
,
q

Translatethelinetopassthroughcoordinateorigin
Rotatethelineontooneofthecoordinateaxis
Reflect the object about that axis
Reflecttheobjectaboutthataxis
Inverserotatetheline
Inversetranslatethelinebacktoitsoriginalposition

Example 5
Example5
ReflectdiamondshapedpolygonwhoseverticesareA(1,0),
p p yg
( , ),
B(0,2),C(1,0),D(0,2),abouty=2
Homogeneous coordinates
Transformation
a s o a o Matrix
a
((TRMR-1T-1)
of vertices
1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0
1
0
1
0

0 1 2 0 1 0 0 1 0 0 1 0 0 1 2 = 0 1 4
0 - 2 0 2 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1

1 1

Transformation of polygon

1 0 0 - 1 0 1 0 - 1 0 1 0
0 1 4 0 - 2 0 2 = 4 6 4 2

0 0 1 1 1 1 1 1 1 1 1

Transformed vertices
A (-1, 4)
B (0, 6)
C (1, 4)
D (0, 2)

Example 6
Example6
ReflectdiamondshapedpolygonwhoseverticesareA(1,0),
p p yg
( , ),
B(0,2),C(1,0),D(0,2),aboutx=2
Homogeneous coordinates
of vertices

-1 0 1 0

0
2
0
2

1 1 1 1

Transformation
a s o a o Matrix
a
((TMT-1)

1 0 2 1 0 0 1 0 2 1 0 4
0 1 0 0 1 0 0 1 0 = 0 1 0

0 0 1 0 0 1 0 0 1 0 0 1

Transformation of polygon

1 0 4 - 1 0 1 0 5 4 3 4
0 1 0 0 - 2 0 2 = 0 - 2 0 2

0 0 1 1 1 1 1 1 1 1 1

Transformed vertices
A (5, 0)
B (4, -2)
C (3, 0)
D (4, 2)

Example 7
Example7
ReflectdiamondshapedpolygonwhoseverticesareA(1,0),
p p yg
( , ),
B(0,2),C(1,0),D(0,2),abouty=x+2
Homogeneous coordinates
of vertices

Transformation
a s o a o Matrix
a
((TMT-1)

-1 0 1 0

0
2
0
2

1 1 1 1
Transformation of polygon

0 1 2 - 1 0 1 0 - 2 - 4 - 2 0
1 0 2 0 - 2 0 2 = 1 2 3 2

0 0 1 1 1 1 1 1 1 1 1

0 1 2
1 0 2

0 0 1
Transformed vertices
A (-2, 1)
B (-4, 2)
C (-2, 3)
D (0, 2)

Shear
A
Atransformationthatdistortstheshapeofanobject
transformation that distorts the shape of an object
suchthatthetransformedshapeappearsasifthe
objectwerecomposedofinternallayersthathave
beencausedtoslideovereachother
Twodistinctsheartransformationsare:
Shiftingcoordinatexvalues
Shiftingcoordinateyvalues

Shear1
Shearalongxaxis
Shear along x axis
pushpointstorightinproportiontoheightifshx ispositive
y
y

TTransformedcoordinatepositionsandmatrix
f
d
di t
iti
d ti
x=x+shx.y
y=y

x
1 shhx
0 1

0 0

0
0
1
63

Shear2
Shearalongxaxis
Shear along x axis

Shx=1.5
=15

Shearinxdirectionrelativetootherreferencelines
Transformedcoordinatepositions
x=x+shx(y yref)
y=y

1 shhx
0 1

0 0

shhx . yref

1
yref =1

Shxx =0.5
yref =1

yref =1

64

Shear3
Shearalongyaxisrelativetolinex
Shear along y axis relative to line x =xxref
Transformedcoordinatepositions
x=x
y=y+shy(x xref)
1
sh
y
0

0
0

1 sh y .xref

0
1
Shyy =0.5
xref =1

xref =1

xref =1
65

Example 8
Example8
SheartransformationonasquareA(0,0),B(1,0),C(1,1)and
q
( , ), ( , ), ( , )
D(0,1)whenshx =2andshy =3
C

D
A

D
A

Affine Transformations
AffineTransformations
affine
affinetransformsarecombinationsof
transforms are combinations
of
x
'
a b
lineartransformations
translations

y ' = d e

w 0 0

propertiesofaffinetransformations

c x
f y
1 w

origindoesnotnecessarilymaptoorigin
origin
does not necessarily map to origin
linesmaptolines
p
parallellinesremainparallel
p
ratiosarepreserved
closedundercomposition
p
67

Transformation Hierarchies
TransformationHierarchies
Scenemayhaveahierarchyofcoordinatesystems
Scene may have a hierarchy of coordinate systems
Storesmatrixateachlevelwithincrementaltransform
fromparentscoordinatesystem

Scenegraph
stripe1

road

stripe2

...

w1

car1

w2

w3

car2

...

w4
68

Transformation Hierarchy Example 1

TransformationHierarchyExample1
world
torso

LUleg

RUleg

LUarm

RUarm

LLleg

RLleg

LLarm

RLarm

Lfoot

Rfoot

Lhand

Rhand

trans(0.30,0,0)rot(z,)

head

69

Transformation Hierarchies1
TransformationHierarchies1
Hierarchiesdon
Hierarchies donttfallapartwhenchanged
fall apart when changed
Transformsapplytographnodesbeneath

70

Readings
HearnandBaker,204
Hearn and Baker 204228
228
XiangandPlastock,6888