2IV60!3!2D Transformations
Transcript of 2IV60!3!2D Transformations
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2IV60 Computer Graphics
2D transformations
Jack van Wijk
TU/e
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vervie!" Wh# transformations$
" %asic transformations&
'trans(ation) rotation) sca(in*
" Com+inin* transformations'homo*enous coor,inates) transform- .atrices
" irst 2D) net 1D
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Transformations
ima*e
train
!or(,
!hee(modelling
instantiation
viewing
animation
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Wh# transformation$
" .o,e( of o+jects
!or(, coor,inates& km, mm, etc.
ierarchica( mo,e(s&&human = torso + arm + arm + head + leg + leg
arm = upperarm + lowerarm + hand
"Vie!in*3oom in) move ,ra!in*) etc-
" 4nimation
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Trans(ation
Trans(ate over vector 5tx, ty
x=x+ tx) y=y+ ty
or
x
y
P
P+T
7% 89:&2209222
T
=
=
=
+=
y
x
t
t
y
x
y
x TPP
TPP'
an,);;;
!ith)
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Trans(ation po(#*on
Trans(ate po(#*on&
4pp(# the same operation
on a(( points-
Works a(!a#s) for a((
transformations of
o+jects ,efine, as a set
of points-
x
y
T
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=cha(e !ith factorsxan,sy&
x= sxx) y= syy
or
an,0
0);
;;
!ith)
=
=
=
=
y
xs
s
y
x
y
xPSP
SPP'
=ca(in*
x
y
P
7% 89:&22>922?
x
P
Q
Q
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=ca(in* !ith respect to a point F
=ca(e !ith factorssxan,sy&
Px= sxPx) Py= syPy
With respect to F&
PxFx= sx5PxFx)
PyFy= sy5PyFy
or Px= Fx+ sx5PxFx)
Py= Fy+ sy5PyFy
x
y
P
7% 89:&22>922?
x
P
Q
QF
P
F
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Transformations
" Trans(ate !ith V&
T@ P A V
" =cha(e !ith factors@s#@s&
S@sP
"
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Transformations
" .ess#
" Transformations !ith respect to points&
even more mess#
" o! to com+ine transformations$
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omo*eneous coor,inates :
" Uniform representation of trans(ation)
rotation) sca(in*
" Uniforme representation of points an,
vectors
" Compact representation of seEuence of
transformations
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omo*eneous coor,inaten 2
" 4,, etra coor,inate&
P @ 5p )p# )ph or
x@ 5x, y, h
" Cartesian coor,inates& ,ivi,e +# h
x @ 5x/h)y/h" Foints& h @ : 5for the time +ein*)
vectors& h @ 07% 892&22?922B
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6)5;
or
::00:0
0:
:;
;
&nTrans(atio
PTP yx
y
x
tt
y
x
t
t
y
x
=
=
Trans(ation matri
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5;
or
::000cossin
0sincos
:;
;
&
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=ca(in* matri
7% 892&22?922B
)5;
or
::0000
00
:;
;
&=ca(in*
PSP yx
y
x
ss
y
x
s
s
y
x
=
=
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Inverse transformations
7% 891&22B
:
):
5)5
&=ca(in*
55
&
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12
12
12''
'
2
''
1'
MMMMP
PMM
P)(MMP
PMP
PMP
===
=
=
=
!ith
&Com+ine,ation---transformsecon,
---sformationfirst tran
Com+inin* transformations :
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PT
PP
PTTP
PTP
PTP
''
'''
'
)5
:00:0
0:
:00:0
0:
:00:0
0:
)5)5
&Com+ine,
ontrans(atisecon,)5
s(ationfirst tran)5
2:2:
2:
2:
:
:
2
2
::22
22
::
yxxx
yy
xx
y
x
y
x
yxyx
yx
yx
tttt
tt
tt
t
t
t
t
tttt
tt
tt
++=
+
+
=
=
=
=
=
Com+inin* transformations 2
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6)56)56)5&sca(in*Composite
656565
&rotationsComposite
6)56)56)5
&onstrans(atiComposite
2:2:::22
2::2
2:2:::22
yyxxyxyx
yxxxyxyx
ssssssss
R
tttttttt
SSS
RR
TTT
=
+=
++=
Com+inin* transformations 1
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+ack-Trans(ate16ori*inHaroun,an*(eover
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'''''
'''
'
)PT(P
)PR(P
)PT(P
R
yx
yx
,RR
R,R
==
=
16
26
:6
&pointaroun,an*(eover
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)P)T()R(T(
)P)R(T(
)PT(P
)P)T(R()PR(P
)PT(P
'
'''''
'''
'
yxyx
yx
yx
yx
yx
R,R,RR
,RR
,RR
R,R
R,R
=
=
=
==
=
16
26
:6
&229210
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PP
)P)T()R(T(P
'''
'''
+
=
=
:00
sin6cos:5cossin
sin6cos:5sincos
or
169:
xy
yx
yxyx
RR
RR
R,R,RR
R
: 2 17% 89>&229210
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a*ain-+ackTrans(ate16ori*inH!-r-t-=cha(e26
ori*inH!ithcoinci,essuch thatTrans(ate:6
&point!-r-t-an,factors!ith=ca(e
F
Fxx ss
=ca(in* !-r-t- point :
F
: 2 17% 89>&210921:
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'''''
'''
'
)PT(P
)PS(P
)PT(P
F
yx
yx
yx
,FF
ss
F,F
==
=
16
)26
:6
&point!-r-t-=cha(e
=ca(in* !-r-t-point 2
F
: 2 17% 89>&210921:
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PP
)PT()ST(P
'''
'''
=
=
:00
6:50
6:50
or
6)5169:
yyy
xxx
yxyxyx
sFs
sFs
F,Fss,FF
=ca(in* !-r-t-point 1
F
: 2 17% 89>&210921:
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a*ain-+ack
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'''''
'''
'
)PR(P)PS(P
)PR(P
==
=
16)26
:6
&,irectionotherin=ca(e
2: ss
=ca(e in other ,irections 2
: 2 17% 89>&210921:
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PP
)P)R()S(R(P
'''
'''
++
=
=
:00
0cossinsincos65
0sincos65sincos
or
)169:
22
2::2
:22
22
:
2:
ssss
ssss
ss
=ca(e in other ,irections 1
: 2 17% 89>&210921:
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r,er of transformations :
#
0I
#I0II
#II
#
#
0II
#II
.atri mu(tip(ication ,oes not commute-
The or,er of transformations makes a ,ifference
Rotaton, translaton !ranslaton, rotaton
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r,er of transformations 2
" Fre9mu(tip(ication&
P = Mn Mn9:M2 M: P
Transformation Mn in *(o+a( coor,inates
" Fost9mu(tip(ication&
P = M: M2Mn9: Mn P
Transformation Mn in (oca( coor,inates& thecoor,inate s#stem after app(ication of
M : M2Mn9:
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r,er of transformations 1
penG& glRotate, glScale) etc-&
" Fost9mu(tip(ication of current
transformation matri" 4(!a#s transformation in (oca( coor,inates
" G(o+a( coor,inate version& rea, in reverse
or,er
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r,er of transformations >
glTranslate();
glRotate();
# 0II
#II
#
Localtra"o
nterpretaton
Localtrans"ormatons&
# 0II
#II
Globaltrans"ormatons#
0I
#I
Globaltra"o
nterpretaton
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Direct construction of matri
x
y
$
AB
T
u
If #ou kno! the tar*et frame&
Construct matri ,irect(#-
Define shape in nice (oca(u,$coor,inates) use matri
transformation to put it
inx,yspace-
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( )
::00:
or)
::
or);
=
=
++=
$u
!%&!%&
yx
$
u
y
x
$u
yyy
xxx
TBA
TBAP
Direct construction of matri
x
y
$
AB
T
u
If #ou kno! the tar*et frame&
Construct matri ,irect(#-
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::00:
of);
=
=
$u
trrrtrrr
yx
yyyyx
xxyxx
MPP
&211921?0):KK):KK)an,
su+matri(orthonorma&
===
=
=
BABABAyy
xy
yx
xx
yyyx
xyxx
r
r
r
r
rr
rr
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ther 2D transformations
"
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PP'
=:000:0
00:
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PRP'
PP'
6:B05as=ame
:00
0:0
00:
=
=
092>2
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tan!ith
:00
0:0
0:
=
=
"
"
PP'
=hear
=hear they9as&
x=x+"y) y=y
or
x
y
7% 89>&2>292>1
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Transformations coor,inates
Given 5x,y9coor,inates)
in, 5x,y9coor,inates-
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Given 5x,y9coor,inates)
in, 5x,y9coor,inates-
Lamp(e& user points at
5x,y, !hats the position
in (oca( coor,inates$
Transformations coor,inates
x
y
x
y
5x0, y0
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Given X& 5x,y9coor,inates)
in, X& 5x,y9coor,inates-
=tan,ar,&
X=MX 5o+ject trafo&
from (oca( to *(o+a(
ere&
X=M-1X 5from *(o+a( to (oca(
Transformations coor,inates
x
y
x
y
5x0, y0
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Given X& 5x,y9coor,inates)
in, X& 5x,y9coor,inates-
ere&
X=M-1
X 5from *(o+a( to (oca(4pproach :&
9 Determine Mstan,ar, matriN M 5from (oca( to *(o+a( coor,inates an, invert
Transformations coor,inates
x
y
x
y
5x0, y0
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Given X& 5x,y9coor,inates)
in, X& 5x,y9coor,inates-
ere&
X=M-1X 5from *(o+a( to (oca(4pproach 2&
9 construct transformation that maps (oca( frame to *(o+a( 5re$erse o" usual.
Transformations coor,inates
x
y
x
y
5x0, y0
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Given X& 5x,y9coor,inates)
in, X& 5x,y9coor,inates-
ere&
X=M-1X 5from *(o+a( to (oca(
4pproach 2&
:-Trans(ate 5x0, y0 to ori*inH
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Given X& 5x,y9coor,inates)
in, X& 5x,y9coor,inates-
ere&
X=M-1X 5from *(o+a( to (oca(
4pproach 2&
M-1= T5x() y(R5
Transformations coor,inates
x
y
x
y
5x0, y0
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penG 2D transformations :
Interna((#&
" Coor,inates are four9e(ement ro! vectors
" Transformations are >> matrices
2D trafos& I*nore)9coor,inates) set) = 0-
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penG 2D transformations 2
penG maintains t!o matrices& GL_PROJECTION
GL_MODELIE!
Transformations are app(ie, to the current matri) to
+e se(ecte, !ith&
glMatr"#Mo$e(GL_PROJECTION) or glMatr"#Mo$e(GL_MODELIE!)
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penG 2D transformations 1
Initia(i3in* the matri to I& glLoa$I$ent"t%();
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penG 2D transformations >
%asic transformation functions& *enerate matri an, post9
mu(tip(# this !ith current matri-
Trans(ate over Ot) t#) t3P&
glTranslate+(t#, t%, t-);
B92?1
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penG 2D Transformations ?
penG maintainsstacks of transformation matrices-
T!o operations&
glPs.Matr"#()0.ake cop# of current matri an, put that on top of the stackH
glPo1Matr"#()0
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penG 2D Transformations 6
=tan,ar,&
glRotate(2, , 3, 2);
glScale(3, , 245);glTranslate(, 3, 6);
glt!"reC7e();
glTranslate(
, 3,6);
glScale(245, , 3);
glRotate(
2, , 3, 2);
Usin* the stack&
glPs.Matr"#();
glRotate(2, , 3, 2);glScale(3, , 245);
glTranslate(, 3, 6);
glt!"reC7e();
glPo1Matr"#();
Un,o transformation
=horter) more ro+ust
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2D transformations summari3e,
9 Transformations& mo,e(in*) vie!in*) animationH
9 =evera( kin,s of transformationsH
9 omo*eneous coor,inatesH
9 Com+ine transformations usin* matri mu(tip(ication-
Up to 1D