3-D Transformations

3D computer graphics uses an additional dimension of depth compared to 2D graphics, allowing more realistic 3D object representations. There are two common 3D coordinate systems that differ in the orientation of the Z-axis. Transformations like translation, scaling, and rotation that are used in 2D can be extended to 3D using 4x4 matrices. Multiple transformations can be combined by multiplying the corresponding matrices from right to left.

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3-D Transformations

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Varchasva Singh

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Computer Graphics

3D Transformations

1
3D Coordinate System
• 3D computer graphics involves the additional dimension of
depth, allowing more realistic representations of 3D objects in
the real world

• There are two possible ways of “attaching” the Z-axis, which

gives rise to a left-handed or a right-handed system

2
3D Transformation
• The translation, scaling and rotation transformations used for 2D can be
extended to three dimensions

• In 3D, each transformation is represented by a 4x4 matrix

• Using homogeneous coordinates it is possible to represent each type of

transformation in a matrix form and integrate transformations into one
matrix

• To apply transformations, simply multiply matrices, also easier in

hardware and software implementation

• Homogeneous coordinates can represent directions

• Homogeneous coordinates also allow for non-affine transformations, e.g.,

perspective projection
3
4
Matrix Representation: 2-D Transformations
Basic Transformations
 x   1 0 t x   x 
Translation  y   0 1 t   y 
P’=TP    y  
 1  0 0 1   1 
 x   cos  sin  0  x 
Rotation [O]  y    sin  cos   
P’=RP    0  y 
 1   0 0 1  1 
 x    sx 0 0  x 
Scaling [O]  y    0 s 0  y 
P’=SP    y  
 1   0 0 1  1  5
Translation

original

V=(tx i + ty j + tz k) == (tx, ty, tz)

translation along y,
or V = (0, k, 0)
Translation (55,60)

(20,35,10)
x  x  t x
y  y  t y
(45,30, 18)
(65,30,20)
z '  z  tz

(10,5, 8) (30,5, 10)

Just assume (not actual 3-D image )
The vector (tx, ty, tz,) is called the offset vector.

7
Scaling

Original scale all axes scale Y axis offset from origin

8
Rotation: Rotating in 3D
• Cannot do mindless conversion like before
• Why?
• Rotate about what axis?
• 3D rotation: about a defined axis
• Different Xform matrix for:
• Rotation about x-axis
• Rotation about y-axis
• Rotation about z-axis

• In general, rotations are specified by a rotation axis and

an angle. In 2-D, there is only one choice of rotation
axis that leaves points in the plane.

9
Rotating in 3D
• New terminology
• X-roll: rotation about x-axis
• Y-roll: rotation about y-axis
• Z-roll: rotation about z-axis
• Which way is +ve rotation
• Look in –ve direction (into +ve arrow)
• CCW is +ve rotation

+ x
z

10
3D Rotation

 The easiest rotation axes are those that parallel to the

coordinate axis.
Positive rotation angle produce counter clockwise rotations
about a coordinate axis, if we are looking along the positive
half of the axis towards the coordinate origin.

11
Fig: 3D Rotation
Coordinate
•
Axis Rotations
Obtain rotations around other axes through cyclic
permutation of coordinate parameters:

Write y in place of x, z in place of y and x in place of z, for

rotation around x axis.

Fig: Coordinate axis rotation 12

Coordinate Axis Rotations