Modeling Transformations

Transcription

1 Modeling Transformations Connelly Barnes CS 4810: Graphics Acknowledgment: slides by Connelly Barnes, Misha Kazhdan, Allison Klein, Tom Funkhouser, Adam Finkelstein and David Dobkin

2 Modeling Transformations Specify transformations for objects Allows definitions of objects in own coordinate systems Allows use of object definition multiple times in a scene H&B Figure 109 2

3 Overview 2D Transformations Basic 2D transformations Matrix representation Matrix composition 3D Transformations Basic 3D transformations Same as 2D 3

4 Simple 2D Transformations Translation y P P x

5 Simple 2D Transformations Translation y x

6 Simple 2D Transformations Scale y z x

7 Simple 2D Transformation Rotation (around origin) y z x

8 2D Modeling Transformations Modeling Coordinates y Scale Translate x Scale Rotate Translate World Coordinates

9 2D Modeling Transformations Modeling Coordinates y x Let s look at this in detail World Coordinates

10 2D Modeling Transformations Modeling Coordinates y x

11 2D Modeling Transformations Modeling Coordinates y x Scale.3,.3 Rotate -90 Translate 5, 3

12 2D Modeling Transformations Modeling Coordinates y x Scale.3,.3 Rotate -90 Translate 5, 3

13 2D Modeling Transformations Modeling Coordinates y x Scale.3,.3 Rotate -90 Translate 3, 5 World Coordinates

14 Basic 2D Transformations Translation: x = x + tx y = y + ty Scale: x = x * sx y = y * sy Rotation: x = x*cosθ - y*sinθ y = x*sinθ + y*cosθ Transformations can be combined (with simple algebra) 14

15 Basic 2D Transformations Translation: x = x + tx y = y + ty Scale: x = x * sx y = y * sy Rotation: x = x*cosθ - y*sinθ y = x*sinθ + y*cosθ 15

16 Basic 2D Transformations Translation: x = x + tx y = y + ty Scale: x = x * sx y = y * sy Rotation: x = x*cosθ - y*sinθ y = x*sinθ + y*cosθ (x,y ) (x,y) x = x*sx y = y*sy 16

17 Basic 2D Transformations Translation: x = x + tx y = y + ty Scale: x = x * sx y = y * sy Rotation: x = x*cosθ - y*sinθ y = x*sinθ + y*cosθ (x,y ) x = (x*sx)*cosθ (y*sy)*sinθ y = (x*sx)*sinθ + (y*sy)*cosθ 17

18 Basic 2D Transformations Translation: x = x + tx y = y + ty Scale: x = x * sx y = y * sy Rotation: x = x*cosθ - y*sinθ y = x*sinθ + y*cosθ (x,y ) x = ((x*sx)*cosθ (y*sy)*sinθ) + tx y = ((x*sx)*sinθ + (y*sy)*cosθ) + ty 18

19 Basic 2D Transformations Translation: x = x + tx y = y + ty Scale: x = x * sx y = y * sy Rotation: x = x*cosθ - y*sinθ y = x*sinθ + y*cosθ x = ((x*sx)*cosθ (y*sy)*sinθ) + tx y = ((x*sx)*sinθ + (y*sy)*cosθ) + ty 19

20 Overview 2D Transformations Basic 2D transformations Matrix representation Matrix composition 3D Transformations Basic 3D transformations Same as 2D 20

21 Matrix Representation Represent 2D transformation by a matrix Multiply matrix by column vector apply transformation to point

22 Matrix Representation Transformations combined by multiplication Matrices are a convenient and efficient way to represent a sequence of transformations!

23 2x2 Matrices What types of transformations can be represented with a 2x2 matrix? 2D Scale around (0,0)?

24 2x2 Matrices What types of transformations can be represented with a 2x2 matrix? 2D Scale around (0,0)?

25 2x2 Matrices What types of transformations can be represented with a 2x2 matrix? 2D Scale around (0,0)? 2D Rotate around (0,0)?

26 2x2 Matrices What types of transformations can be represented with a 2x2 matrix? 2D Scale around (0,0)? 2D Rotate around (0,0)?

27 2x2 Matrices What types of transformations can be represented with a 2x2 matrix? 2D Scale around (0,0)? 2D Rotate around (0,0)? 2D Mirror over Y axis?

28 2x2 Matrices What types of transformations can be represented with a 2x2 matrix? 2D Scale around (0,0)? 2D Rotate around (0,0)? 2D Mirror over Y axis?

29 2x2 Matrices What types of transformations can be represented with a 2x2 matrix? 2D Scale around (0,0)? Like scale with negative scale values 2D Mirror over Y axis?

30 2x2 Matrices What types of transformations can be represented with a 2x2 matrix? 2D Translation?

31 2x2 Matrices What types of transformations can be represented with a 2x2 matrix? 2D Translation? NO! Only linear 2D transformations can be represented with a 2x2 matrix

32 Linear Transformations Linear transformations are combinations of Scale, and Rotation Properties of linear transformations: Satisfies: Origin maps to origin Lines map to lines Parallel lines remain parallel Closed under composition 32

33 Linear Transformations Linear transformations are combinations of Scale, and Rotation Properties of linear transformations: Satisfies: Origin maps to origin Lines map to lines Parallel lines remain parallel Closed under composition Translations do not map the origin to the origin 33

34 Homogeneous Coordinates Add a 3rd coordinate to every 2D point (x, y, w) represents a point at location (x/w, y/w) (x, y, 0) represents a point at infinity (0, 0, 0) is not allowed y 2 1 (2,1,1) or (4,2,2) or (6,3,3) 1 2 x Convenient coordinate system to represent many useful transformations 34

35 2D Translation 2D translation represented by a 3x3 matrix Point represented with homogeneous coordinates 35

36 2D Translation 2D translation represented by a 3x3 matrix Point represented with homogeneous coordinates 36

37 Basic 2D Transformations Basic 2D transformations as 3x3 matrices Translate Scale Rotate

38 Affine Transformations Affine transformations are combinations of Linear transformations, and Translations Properties of affine transformations: Origin does not necessarily map to origin Lines map to lines Parallel lines remain parallel Closed under composition 38

39 Projective Transformations Projective transformations Affine transformations, and Projective warps Properties of projective transformations: Origin does not necessarily map to origin Lines map to lines Parallel lines do not necessarily remain parallel Closed under composition 39

40 Overview 2D Transformations Basic 2D transformations Matrix representation Matrix composition 3D Transformations Basic 3D transformations Same as 2D 40

41 Matrix Composition Transformations can be combined by matrix multiplication p = T(tx,ty) R(Θ) S(sx,sy) p

42 Matrix Composition Matrices are a convenient and efficient way to represent a sequence of transformations General purpose representation Hardware matrix multiply Efficiency with pre-multiplication Matrix multiplication is associative p = (T * (R * (S*p) ) ) p = (T*R*S) * p 42

43 Matrix Composition Be aware: order of transformations matters»matrix multiplication is not commutative p = T * R * S * p Global Local

44 Matrix Composition Rotate by Θ around arbitrary point (a,b) (a,b) (a,b)

45 Matrix Composition Rotate by Θ around arbitrary point (a,b) M=T(a,b) * R(Θ) * T(-a,-b) The trick: First, translate (a,b) to the origin. Next, do the rotation about origin. Finally, translate back. (a,b) Scale by sx,sy around arbitrary point (a,b) M=T(a,b) * S(sx,sy) * T(-a,-b) (Use the same trick.) (a,b) 45

46 Overview 2D Transformations Basic 2D transformations Matrix representation Matrix composition 3D Transformations Basic 3D transformations Same as 2D 46

47 3D Transformations Same idea as 2D transformations Homogeneous coordinates: (x,y,z,w) 4x4 transformation matrices 47

48 Basic 3D Transformations Identity Scale Translation

49 Basic 3D Transformations Pitch-Roll-Yaw Convention: Any rotation can be expressed as the combination of a rotation about the x-, the y-, and the z-axis. Rotate around Z axis: Rotate around Y axis: Rotate around X axis:

50 Basic 3D Transformations Pitch-Roll-Yaw Convention: Any rotation can be expressed as the combination of a rotation about the x-, the y-, and the z-axis. Rotate around Z axis: How would you rotate Rotate around Y axis: around an arbitrary axis U? Rotate around X axis:

51 Rotation By ψ Around Arbitrary Axis U Align U with major axis T(a,b,c) = Translate U by (a,b,c) to pass through origin Rx(θ), Ry(φ)= Do two separate rotations around two other axes (e.g. x, and y) by θ and φ degrees to get it aligned with the third (e.g. z) Perform rotation by ψ around the major axis = Rz(ψ) Do inverse of original transformation for alignment y U y U y z x T (a,b,c) z x R y (φ) R x (θ) z U x 51

52 Rotation By ψ Around Arbitrary Axis U Align U with major axis T(a,b,c) = Translate U by (a,b,c) to pass through origin Rx(θ), Ry(φ)= Do two separate rotations around two other axes (e.g. x, and y) by θ and φ degrees to get it aligned with the third (e.g. z) Perform rotation by ψ around the major axis = Rz(ψ) Do inverse of original transformation for alignment Aligning Transformation 52

53 Rotation By ψ Around Arbitrary Axis U Homogeneous coordinates matrix to rotate an angle ψ around axis U passing through origin: Here (x, y, z) are components of U (a unit vector) c = cos(ψ) s = sin(ψ) Derivation: this is Rodrigues' rotation formula in matrix form 53