Computer Graphics
(Lecture 8)
2D Transformations
Rotation changes the position and orientation of shapes by rotating
each of the points in the shape around a common point, or center of
rotation.
Rotation Proof
2D Transformations
Translation simply moves an objects position by given offset.
This is performed by adding the translation vector to the all co-
ordinates within the object.
Homogeneous Coordinates
Translation Scaling Rotation
Shearing
Shearing a transformation that alters one of the coordinates
proportionally to the other coordinate(s) values and keep the other
coordinates with no change.
X values are changed proportional to y , while y values are the same
2D Shearing
2D Shear along X-direction
Shear in X direction is represented by the following set of
equations. x’ = x + sh y
x
y’ = y
where shx is the negative or positive fraction of Y coordinate of
P to be added to the X coordinate. Shx can be any real number
The matrix of form of shear in x-direction is given
by :
𝒙′ 𝟏 𝒔𝒉𝒙 𝟎 𝒙
𝒚′ = 𝟎 𝟏 𝟎 𝒚
𝟏 𝟎 𝟎 𝟏 𝟏
2D Shearing
2D Shear along Y Direction
Similarly, shear along y-direction is given by
𝒙′ 𝟏 𝟎 𝟎 𝒙
x’ = x 𝒚′ = 𝒔𝒉𝒚 𝟏 𝟎 𝒚
y’ = shy x + y 𝟏 𝟎 𝟎 𝟏 𝟏
Combining the shear in X and Y directions,
𝒙′ 𝟏 𝒔𝒉𝒙 𝟎 𝒙
𝒚′ = 𝒔𝒉𝒚 𝟏 𝟎 𝒚
𝟏 𝟎 𝟎 𝟏 𝟏
Example for 2D Shearing
y y y y
Shx=2 Shy=2
x x x x
3D Transformation
Elemental Transformations:
Translation
Rotation
Scaling
Shearing
Three of them are affine and linear:
Rotation, Scaling, and Shearing
One is affine but non-linear
Translation
Definitions of Transformations
Projective ⊃ Affine ⊃ Linear
Meaning that all linear transforms are also affine transforms, which are also
projective transforms.
However, not all affine transforms are linear transforms, and not all
projective transforms are affine.
Definitions of Transformations
Definitions:
Linear Transform:
Preserves parallel lines
Acts on a line to yield either a line or a point
The vector [0, 0] is always transformed to [0, 0]
Examples: scale and rotate
Affine Transform:
Preserves parallel lines
Acts on a line to yield either a line or a point
The vector [0, 0] is NOT always transformed to [0, 0]
Examples: translate
Projective Transform:
Does NOT preserve parallel lines
Acts on a line to yield either a line or a point
The vector [0, 0] is NOT always transformed to [0, 0]
Examples: perspective camera
Definitions of Transformations
3D Translation
Translation by (tx, ty, tz) is achieved using the following matrix:
1 0 0 tx
0 1 0 ty
M T (t x , t y , t z )
0 0 1 tz
0 0 0 1
For example: translation by (1, 1, 1) is the following:
1 0 0 1
0 1 0 1
M T (1,1,1)
0 0 1 1
0 0 0 1
3D Scaling
The scale formula changes the size of the object and
repositions the object with relative to the coordinate
origin.
Y -z
-x
(2,0,-4)
(4,0,-2)
-y
Z
Scaling with respect to a selected point
Scaling with respect to a selected point (xf,yf,zf) can be represented
with the following transformation sequence:
1: Translate the fixed point to the origin.
2: Scale the object with respect to origin.
3: Translate the fixed point back to its original position.
T(xf,yf,zf).S (sx,sy,sz) .T (-xf,-yf,-zf)
e.g : scale the previous example around (2,0,-4)
Scaling with respect to a selected point
Solution:
1: Translate the object to system origin by T(-2,0,4)
2: Scale the object by S (2,1,0.5)
3:Translate the object back to (2,0,-4) by T (2,0,-4)
p’ = T-1.S.T .p
transformation
Scaling with respect to a selected point
Y -z Y -z
Y -z
-x -x
-x
-y -y -y
Z Z Z
T(-2,0,4) S(2,1,0.5) T(2,0,-4)
𝑥′ 1 0 0 𝑥𝑓 𝑆𝑥 0 0 0 1 0 0 −𝑥𝑓 𝑥
𝑦′ 0 1 0 𝑦𝑓 0 𝑆𝑦 0 0 0 1 0 −𝑦𝑓 𝑦
=
𝑧′ 0 0 1 𝑧𝑓 0 0 𝑆𝑧 0 0 0 1 −𝑧𝑓 𝑧
1 0 0 0 1 0 0 0 1 0 0 0 1 1
𝑥′ 1 0 0 2 2 0 0 0 1 0 0 −2 𝑥
𝑦′ 0 1 0 0 0 1 0 0 0 1 0 0 𝑦
=
𝑧′ 0 0 1 −4 0 0 0.5 0 0 0 1 4 𝑧
1 0 0 0 1 0 0 0 1 0 0 0 1 1
𝑥′ 1 0 0 2 2 0 0 −4 𝑥
𝑦′ 0 1 0 0 0 1 0 0 𝑦
=
𝑧′ 0 0 1 −4 0 0 0.5 2 𝑧
1 0 0 0 1 0 0 0 1 1
𝑥′ 2 0 0 −2 𝑥
𝑦′ 0 1 0 0 𝑦
=
𝑧′ 0 0 0.5 −2 𝑧
1 0 0 0 1 1
