Computer Graphics

Lecture 06- Transformations

Lecture Outlines
• Transformation
• Types of 2D Transformation
• 2D Transformation
• Geometric
• Composite
• 3D Transformation
What is Transformation?
• The geometrical changes of an object from a current state to
modified state is referred to as TRANSFORMATION. It allows us
to change the
• position

• size and

• orientation of the objects.

• Why it is needed?
• To manipulate the initially created object

• to display the modified object without having to redraw it

Two Dimensional Transformation
• There are two complementary points of view for describing
object movement.
• The first is that the object itself is moved relative to a
stationary coordinate system or background. [Geometric
Transformations]
• The second point of view holds that the object is held
stationary while the coordinate system is moved relative to
the object. [Coordinate Transformations]
Geometric Transformations

• Translation

• Rotation about the Origin

• Scaling with Respect to the Origin

• Mirror Reflection about an Axis

 Translation
• A translation moves an object to a different position on the screen

x = x + t x , y  = y + t y
P’(x’,y’)

 x  x  t x  𝑇(𝑡𝑥 , 𝑡𝑦 )
P =   , P =   , T =  
 y  y t y 
P(x,y)
P = P + T
Translation

X’=5+6=11
P’(x’,y’)
Y’=3+7= 10
𝑇(6,7)

P(5,3)
Translation

1 0 t x 
0 1 t 
 y 
0 0 1 
Rotation about the Origin
• In rotation, the object is rotated θ° about the origin.
• The convention is that the direction of rotation is counterclockwise if θ is
a positive angle .
• and clockwise if θ is a negative angle.

y y P’(x’,y’)
P(x,y)

x x
Rotation about the Origin
The transformation of rotation R is
P’ = R.P
where x’ = xcos(θ) - y sin(θ)
and y’ = xsin(θ) + ycos(θ)

 x  cos − sin   x 

 y =  sin cos   y 
  

cos − sin 0
Rotation =
 sin cos 0
 
 0 0 1
Rotation about the Origin
sin(A + B) = sin A cos B + cos A sin B
cos(A + B) = cos A cos B − sin A sin B
• Derivation of the rotation equation
=> cos  = x/r , sin = y/r
• x = r. cos , y = r.sin 
P’(x’, y’)
=> cos (+ ) = x’/r
=> x’ = r. cos (+ )
= r(coscos -sinsin) 
r
= r.coscos - r.sinsin
= x.cos  – y.sin  y’ P(x,y)
 r
y
=>sin (+ ) = y’/r 
=>y’ = r. sin (+ )
x
= r(sincos + cossin) x’
=r.sincos + r.cossin
= y.cos  + x.sin  = x.sin  +y.cos 
Rotation about the Origin
Given point as (4, 4). Apply 30 degree rotation anticlockwise direction on the line
segment and find out the new coordinates of the line .
y
P’(x’,y’)
30𝑜 P(4,4)

Given Point= (X, Y) = (4, 4)

Rotation angle = θ = 30º

Let new ending coordinates of the line after rotation = (x’, y’).
Rotation about the Origin

Applying the rotation equations, we have-

X’= xcos(θ) - y sin(θ) Y’ = xsin(θ) + ycos(θ)

= 4 x cos30º – 4 x sin30º = 4 x sin30º + 4 x cos30º
= 4 x (√3 / 2) – 4 x (1 / 2) = 4 x (1 / 2) + 4 x (√3 / 2)
= 2√3 – 2 = 2 + 2√3
= 2(√3 – 1) = 2(1 + √3)
= 2(1.73 – 1) = 2(1 + 1.73)
= 1.46 = 5.46

Thus, New ending coordinates of the line after rotation = (1.46, 5.46).
Scaling with Respect to the origin
• Scaling is the process of expanding or compressing the dimension of an object. To
change the size of an object, scaling transformation is used.
• Positive scaling constants sx and sy are used to describe changes in length with
respect to the x direction and y direction, respectively.
• The scaling transformation ssx.sy is given by P’ = S.P
where, x’ = sxx and y’ = syy.
• After a scaling transformation is performed, the new object is located at a different
position relative to the origin.

Original Object Scaling factors sx =2

Scaling factors sy =1/2
Scaling with Respect to the origin

 sx 0 0
0 sy 0 
 
 0 0 1
 Scaling with Respect to the origin
x’ = sxx Given a square object with coordinate points A(0, 3), B(3, 3),
y’ = syy C(3, 0), D(0, 0). Apply the scaling parameter 2 towards X axis
and 3 towards Y axis and obtain the new coordinates of the
object.

Given-
•Scaling factor along X axis, sx = 2
•Scaling factor along Y axis, sy = 3

A(0, 3):- B(3, 3):-

new coordinates of corner A after scaling
=(x’,y’). •X’ = 3 x 2 = 6
•Y’ = 3 x 3 = 9
•X’= 0 x 2 = 0 New coordinates of corner B after
• y’= 3 x 3 = 9 scaling = (6, 9).
New coordinates of corner A after scaling =
(0, 9).
Scaling with Respect to the origin
Given-
x’ = sxx •Scaling factor along X axis, sx = 2
•Scaling factor along Y axis, sy = 3
y’ = syy

C(3, 0):-
Applying the scaling equations, we have-
•X’= 3 x 2 = 6
•Y’= 0 x 3 = 0

Thus, New coordinates of corner C after scaling = (6, 0).

D(0, 0):-
Applying the scaling equations, we have-
•X’= 0 x 2 = 0
•Y’= 0 x 3 = 0

Thus, New coordinates of corner D after scaling = (0, 0).

Scaling with Respect to the origin
Mirror Reflection about an Axis
• If either the x and y axis is treated as a mirror,
the object has a mirror image or reflection.
• Since the reflection P’ of an object point P is
located the same distance from the mirror as
P (Fig. 4.5), the mirror reflection transformation
Mx about the x-axis is given by P’= Mx(P)
where x’ = x and y’ = −y.
• Similarly, the mirror reflection about the y-axis is
P’= My(P) .
where, x’ = -x and y’ = y.
Composite Transformation

• If we want to apply a series of transformation T1,T2,T3 to a

set of points, we can do it like below-

• Calculate, T = T1 x T2 x T3

then P’ = T x P

• This method saves large number of adds and multiplications.

• We can represent any sequence of transformations as a single
matrix.
• Composite transformations – matrix • matrix.
Example
• Translation:
• Translate (x,y) by (tx1,ty1) and then again by
(tx2,ty2).
• Here, first calculate, T = T1 x T2
• Then, P’= T x P
• Scaling :
• Same as translation.
• Rotation:
• Calculate T1 for θ1, then T2 for θ2 and multiply them.
• Then P’= T x P
Transformations are NOT
Commutative
• If we scale /rotate and then translate is that equivalent to
translate first and then scale/rotate?

• No, because in general case result of matrix multiplication

depends on the order.

• So, the order of transformation has to be maintained .

Order of operations
It does matter. Let’s look at an example:

1. Translate 1. Rotate
2. Rotate 2. Translate
3D Transformations
• 3D Translation is a process of moving an object
from one position to another in a three dimensional
plane.
• Homogeneous coordinates: (x,y,z)
• Transformations are now represented as 4x4
matrices
3D Translation

 x 1 0 0 tx   x 
 y  0 1 0 ty  y
 =  
 z   0 0 1 tz   z 
    
 1  0 0 0 1 1
3D Scaling

 x   Sx 0 0 0  x 
 y  0 Sy 0 0  y 
 =  
 z   0 0 Sz 0  z 
    
 1   0 0 0 1  1 
3D Rotation
• Rotation in 3D is about an axis in 3D space
• Hence, rotation matrix is different for all the x, y
and z axis!
 3D Rotation
About z-axis

R * P = P
  
cos − sin  0 0  x   x * cos − y * sin  
 sin  cos 0 0  y   x * sin  + y * cos 
 * =
 0 0 1 0  z   z 
     
 0 0 0 1  1   1 
3D Rotation
About y-axis

R * P = P
  
 cos 0 sin  0  x   x * cos + z * sin  
 0 1 0 0   y  y 
 *  =  
− sin  0 cos 0  z  − x * sin  + z * cos 
     
 0 0 0 1    
1 1 
3D Rotation
About x-axis

R * P = P
  
1 0 0 0  x   x 
0 cos − sin  0  y   y * cos − z * sin  
 * =
0 sin  cos 0  z   y * sin  + z * cos 
     
0 0 0 1  1   1 