2D Transformations
2D Transformation
Given a 2D object, transformation is to change the objects
Position (translation) Size (scaling) Orientation (rotation) Shapes (shear)
Apply a sequence of matrix multiplication to the object vertices
Point representation
We can use a column vector (a 2x1 matrix) to represent a 2D point x y A general form of linear transformation can be written as:
x = ax + by + c OR y = dx + ey + f
X Y 1
=
a d 0
b e 0
c f 1
x y 1
Translation
Re-position a point along a straight line Given a point (x,y), and the translation distance (tx,ty)
The new point: (x, y) x = x + tx y = y + ty
(x,y)
ty
(x,y)
tx
OR
P = P + T
where
P =
x y
p=
x y
T=
tx ty
3x3 2D Translation Matrix
x y = x y + tx ty
Use 3 x 1 vector
x y 1
1 0 0
0 1 0
tx ty 1
x y 1
Note that now it becomes a matrix-vector multiplication
Translation
How to translate an object with multiple vertices?
Translate individual vertices
2D Rotation
Default rotation center: Origin (0,0)
q> 0 : Rotate counter clockwise
q< 0 : Rotate clockwise
Rotation
(x,y) -> Rotate about the origin by q (x, y) How to compute (x, y) ? x = r cos (f) y = r sin (f) x = r cos (f + q) y = r sin (f + q)
q (x,y)
r
f
(x,y)
Rotation
x = r cos (f) y = r sin (f)
(x,y)
x = r cos (f + q) y = r sin (f + q)
x = r cos (f + q) = r cos(f) cos(q) r sin(f) sin(q) = x cos(q) y sin(q) y = r sin (f + q) = r sin(f) cos(q) + r cos(f)sin(q) = y cos(q) + x sin(q)
r
f
(x,y)
Rotation
x = x cos(q) y sin(q) y = y cos(q) + x sin(q) Matrix form? x y
= q (x,y)
r
f
(x,y)
cos(q) sin(q)
-sin(q) cos(q)
x y
3 x 3?
3x3 2D Rotation Matrix
x y
=
cos(q) sin(q)
-sin(q) cos(q)
x y
q
(x,y) (x,y) f
x y 1
cos(q) sin(q) 0
-sin(q) cos(q) 0
0 0 1
x y 1
Rotation
How to rotate an object with multiple vertices?
Rotate individual Vertices
2D Scaling
Scale: Alter the size of an object by a scaling factor (Sx, Sy), i.e. x = x . Sx y = y . Sy x y = Sx 0 0 Sy x y
(4,4) (2,2) Sx = 2, Sy = 2 (2,2)
(1,1)
2D Scaling
(4,4) (2,2) (1,1) Sx = 2, Sy = 2 (2,2)
Not only the object size is changed, it also moved!! Usually this is an undesirable effect We will discuss later (soon) how to fix it
3x3 2D Scaling Matrix
x y
Sx 0 0 Sy
x y
x y 1
Sx 0 0
0 Sy 0
0 0 1
x * y 1
Put it all together
Translation: x = x y y Rotation:
tx ty
x = cos(q) -sin(q) * x y sin(q) cos(q) y x y
=
Scaling:
Sx 0
0 Sy
x y
Or, 3x3 Matrix representations
Translation:
x y 1
x y 1 x y 1
1 0 0
cos(q) sin(q) 0 Sx 0 0 0 Sy 0
0 1 0
tx ty 1
x y 1
Rotation:
-sin(q) cos(q) 0 0 0 1
0 x 0 * y 1 1 x * y 1
Scaling:
Why use 3x3 matrices?
Why use 3x3 matrices?
So that we can perform all transformations using matrix/vector multiplications
This allows us to pre-multiply all the matrices together
The point (x,y) needs to be represented as (x,y,1) -> this is called Homogeneous coordinates!
Rotation Revisit
The standard rotation matrix is used to rotate about the origin (0,0)
cos(q) sin(q) 0 -sin(q) cos(q) 0 0 0 1
What if I want to rotate about an arbitrary center?
Arbitrary Rotation Center
To rotate about an arbitrary point P (px,py) by q:
Translate the object so that P will coincide with the origin: T(-px, -py) Rotate the object: R(q) Translate the object back: T(px,py)
(px,py)
Arbitrary Rotation Center
Translate the object so that P will coincide with the origin: T(-px, -py) Rotate the object: R(q) Translate the object back: T(px,py)
T(px,py) R(q) T(-px, -py)
Put in matrix form:
x y = 1 1 0 px 0 1 py 00 1
*P
x y 1
cos(q) -sin(q) 0 sin(q) cos(q) 0 0 0 1
1 0 -px 0 1 -py 0 0 1
Scaling Revisit
The standard scaling matrix will only anchor at (0,0)
Sx 0 0 0 Sy 0 0 0 1
What if I want to scale about an arbitrary pivot point?
Arbitrary Scaling Pivot
To scale about an arbitrary pivot point P (px,py):
Translate the object so that P will coincide with the origin: T(-px, -py) Rotate the object: S(sx, sy) Translate the object back: T(px,py)
(px,py)
Affine Transformation
Translation, Scaling, Rotation, Shearing are all affine transformation Affine transformation transformed point P (x,y) is a linear combination of the original point P (x,y), i.e.
x m11 m12 m13 y = m21 m22 m23 1 0 0 1 x y 1
Any 2D affine transformation can be decomposed into a rotation, followed by a scaling, followed by a shearing, and followed by a translation.
Affine matrix = translation x shearing x scaling x rotation
Composing Transformation
Composing Transformation the process of applying several transformation in succession to form one overall transformation If we apply transform a point P using M1 matrix first, and then transform using M2, and then M3, then we have: (M3 x (M2 x (M1 x P ))) = M3 x M2 x M1 x P
(pre-multiply)
Composing Transformation
Matrix multiplication is associative
M3 x M2 x M1 = (M3 x M2) x M1 = M3 x (M2 x M1)
Transformation products may not be commutative xA Some cases where A x B = B x A
A translation scaling rotation uniform scaling (sx = sy) B translation scaling rotation rotation
A x B != B
Transformation order matters!
Example: rotation and translation are not commutative
Translate (5,0) and then Rotate 60 degree OR Rotate 60 degree and then translate (5,0)??
Rotate and then translate !!
Transformation Pipeline
Object Local Coordinates
Modeling transformation
Object World Coordinates
