2D TRANSFORMATIONS

2D Transformations
What is transformations?
The geometrical changes of an object from a current state to modified state.

Why the transformations is needed?

To manipulate the initially created object and to display the modified object without having to redraw it.

2D Transformations
2 ways
Object Transformation
Alter the coordinates descriptions an object Translation, rotation, scaling etc. Coordinate system unchanged

Coordinate transformation
Produce a different coordinate system

Matrix Math
Why do we use matrix?
More convenient organization of data. More efficient processing Enable the combination of various concatenations

Matrix addition and subtraction

a b s c d = as c bs d

Matrix Math
How about it? a s c d
b e

Matrix Multiplication
Dot product
a c b d

e g

f a.e + b.g = h c.e + d.g

a.f + b.h c.f + d.h

Matrix Math
What about this?
1 2

1 3 2 1

2 = 1

2 3

1 3

tak boleh!!

Type of matrix
a b Row-vector

a b Column-vector

Matrix Math
Is there a difference between possible representations?
a b e ae  bf y !  c d f ce df

?e ?e

a b f Ay ! ?ae  cf c d a c f Ay ! ?ae  bf b d

be  df A ce  df A

Matrix Math
Well use the column-vector representation for a point. Which implies that we use pre-multiplication of the transformation it appears before the point to be transformed in the equation.
A B x Ax  By C D y y ! Cx  Dy

What if we needed to switch to the other convention?

Translation
A translation moves all points in an object along the same straight-line path to new positions. The path is represented by a vector, called the translation or shift vector. We can write the components: p'x = px + tx p'y = py + ty or in matrix form: P' = P + T

?
ty=4
(2, 2)

tx= 6

x x tx y = y + ty

Rotation
A rotation repositions all points in an object along a circular path in the plane centered at the pivot point. First, well assume the pivot is at the origin.

P
U

Rotation
Review Trigonometry
=> cos J = x/r , sin J= y/r x = r. cos J, y = r.sin J => cos (J+ U) = x/r x = r. cos (J+ U) x = r.cosJcosU -r.sinJsinU x = x.cos U y.sin U =>sin (J+ U) = y/r y = r. sin (J+ U) y = r.cosJsinU + r.sinJcosU y = x.sin U + y.cos U
P(x, y)

r
y
U

P(x,y)

r J
x

Identity of Trigonometry

Rotation
We can write the components: p'x = px cos U py sin U p'y = px sin U + py cos U or in matrix form: P' = R P U can be clockwise (-ve) or (counterclockwise (+ve as our example). Rotation matrix
P(x, y)

y
U

P(x,y)

cosU R! sin U

 sin U cos U

r J
x

Rotation
Example
Find the transformed point, P, caused by rotating P= (5, 1) about the origin through an angle of 90r.

cos U sin U

sin U x y cos U y

x cos U x sin U

y sin U y cos U

5 cos 90  1 sin 90 ! 5 sin 90  1 cos 90 5 0  1 1 ! 5 1  1 0  1 ! 5

 Scaling changes the size of an object and involves two scale factors, Sx and Sy for the xand y- coordinates respectively. Scales are about the origin. We can write the components: p'x = sx px p'y = sy py or in matrix form: P' = S P Scale matrix as:
S sx 0 0 sy

Scaling
P

 If the scale factors are in between 0 and 1 the points will be moved closer to the origin the object will be smaller. Example : P(2, 5), Sx = 0.5, Sy = 0.5 Find P ?

Scaling

P(2, 5)

 If the scale factors are in between 0 and 1 the points will be moved closer to the origin the object will be smaller. Example : P(2, 5), Sx = 0.5, Sy = 0.5 Find P ? If the scale factors are larger than 1 the points will be moved away from the origin the object will be larger. Example : P(2, 5), Sx = 2, Sy = 2 Find P ?

Scaling
P

P(2, 5)

Scaling
If the scale factors are the same, Sx = Sy uniform scaling Only change in size (as previous example) If Sx { Sy differential scaling. Change in size and shape Example : square rectangle P(1, 3), Sx = 2, Sy = 5 , P ?
P

P(1, 2)

What does scaling by 1 do? What is that matrix called? What does scaling by a negative value do?

Combining transformations
We have a general transformation of a point: P' = M P + A When we scale or rotate, we set M, and A is the additive identity. When we translate, we set A, and M is the multiplicative identity. To combine multiple transformations, we must explicitly compute each transformed point. Itd be nicer if we could use the same matrix operation all the time. But wed have to combine multiplication and addition into a single operation.

Homogenous Coordinates
y y w x x Lets move our problem into 3D. Let point (x, y) in 2D be represented by point (x, y, 1) in the new space. Scaling our new point by any value a puts us somewhere along a particular line: (ax, ay, a). A point in 2D can be represented in many ways in the new space. (2, 4) ---------- (8, 16, 4) or (6, 12, 3) or (2, 4, 1) or etc.

Homogenous Coordinates
We can always map back to the original 2D point by dividing by the last coordinate (15, 6, 3) --- (5, 2). (60, 40, 10) - ?. Why do we use 1 for the last coordinate? The fact that all the points along each line can be mapped back to the same point in 2D gives this coordinate system its name homogeneous coordinates.

Matrix Representation
Point in column-vector: x y 1 Our point now has three coordinates. So our matrix is needs to be 3x3. Translation

xd 1 0 t x x yd! 0 1 t y y y 1 0 0 1 1

Matrix Representation
Rotation

x y 1
Scaling

cos U sin U 0

sin U cos U 0

0 x 0 y y 1 1

x y 1

s x 0 0

0 sy 0

0 x 0 y y 1 1

Composite Transformation
We can represent any sequence of transformations as a single matrix.
No special cases when transforming a point matrix vector. Composite transformations matrix matrix.

Composite transformations:
Rotate about an arbitrary point translate, rotate, translate Scale about an arbitrary point translate, scale, translate Change coordinate systems translate, rotate, scale

Does the order of operations matter?

Composition Properties
Is matrix multiplication associative?
(A.B).C = A.(B.C)
a b e c d y g f i y h k j ae  bg !  l ce dg af  bh i y cf  dh k j l aej  bgj  afl  bhl cej  dgj  cfl  dhl
?

aei  bgi  afk  bhk ! cei  dgi  cfk  dhk a b e y c d g f i y h k

j a b ei  fk ej  fl ! c d y gi  hk gj  hl l aei  afk  bgi  bhk aej  afl  bgj  bhl ! cei  cfk  dgi  dhk cej  cfl  dgj  dhl

Composition Properties
Is matrix multiplication commutative?
A.B=B.A
?

a b e c d y g
e g

f ae  bg ! ce  dg h

af  bh cf  dh
eb  fd gb  hd

f a b ea  fc y c d ! ga  hc h

Order of operations
So, it does matter. Lets look at an example:
1. 2. Translate Rotate 1. 2. Rotate Translate

Composite Transformation Matrix

Arrange the transformation matrices in order from right to left. Operation :1. Translate (pivot point is moved to origin) 2. Rotate about origin 3. Translate (pivot point is returned to original position) T(pivot) R(U) T(pivot)
1 0 0 1 0 0 0 1 0 0 1 0 tx ty 1 tx ty 1 1 0 0 0 1 0 -tx -ty 1

General Pivot- Point Rotation

. .

cosU -sinU 0 sinU cosU 0 0 0 1

cosU -sinU -tx cosU+ ty sinU sinU cosU -tx sinU - ty cosU 0 0 1

cosU -sinU -tx cosU+ ty sinU + tx sinU cosU -tx sinU - ty cosU + ty 0 0 1

Composite Transformation Matrix

Example
Perform 60r rotation of a point P(2, 5) about a pivot point (1,2). Find P?
cosU -sinU -tx cosU+ ty sinU + tx sinU cosU -tx sinU - ty cosU + ty 0 0 1

x y 1

Sin 60 = 0.8660 Kos 60 = 1/2

0.5 -0.866 -1.0.5 + 2.0.866 + 1 0.866 0.5 -1.0.866- 2.0.5 + 2 0 0 1 0.5 - 0.866 2.232 0.866 0.5 0.134 0 0 1

2 5 1 -1.098 4.366 1

2 5 1

P = (-1, 4)

Without using composite homogenus matrix

Example
Perform 90r rotation of a point P(5, 1) about a pivot point (2, 2). Find P?

1. Translate pivot point ke asalan ( tx = -2, ty = -2)

Titik P(5, 1 ) P (3, -1)

2. Rotate P = 90 degree P(3, -1) -- > kos 90 -sin 90 3 = 0 -1 3 = 1 sin 90 kos 90 -1 1 0 -1 3 3. Translate back ke pivot point (tx = 2 , ty = 2) titik (1, 3 ) titik akhir (3, 5)

Composite Transformation Matrix

General Fixed-Point Scaling
Operation :1. Translate (fixed point is moved to origin) 2. Scale with respect to origin 3. Translate (fixed point is returned to original position) T(fixed) S(scale) T(fixed) S(scale) T( Find the matrix that represents scaling of an object with respect to any fixed point? Given P(6, 8) , Sx = 2, Sy = 3 and fixed point (2, 2). Use that matrix to find P?

Answer
1 0 0 1 0 0 0 1 0 0 1 0 tx ty 1 tx ty 1

. .

Sx 0 0 Sy 0 0

0 0 1

1 0 0

0 1 0

-tx -ty 1 Sx 0 -tx Sx + tx 0 Sy -ty Sy + ty 0 0 1

Sx 0 -tx Sx 0 Sy -ty Sy 0 0 1

x =6, y = 8, Sx = 2, Sy = 3, tx =2, ty = 2

2 0 0

0 3 0

-2( 2) + 2 -2(3) + 2 1

6 8 1

10 20 1

Composite Transformation Matrix

General Scaling Direction
Operation :1. Rotate (scaling direction align with the coordinate axes) 2. Scale with respect to origin 3. Rotate (scaling direction is returned to original position) R(U) S(scale) R(U) Find the composite transformation matrix by yourself !!

latihan
Dapatkan titik akhir bagi P(5, 8) jika titik tersebut diputarkan sebanyak 90 darjah, kemudian ditranslate sebanyak (-6, 9) dan akhirnya diskala dengan faktor skala (2, 0.5).

S
Sx 0 0 Sy 0 0 0 0 1

T
1 0 0 0 1 0 tx ty 1

R
cosU -sinU 0 sinU cosU 0 0 0 1

. .

Sx 0 0 Sy 0 0 SxcosU Sy sinU 0

0 0 1

cosU -sinU tx sinU cosU ty 0 0 1

Sx(-sinU) Sx tx Sy cosU Sy ty 0 1

Other transformations
Reflection: x-axis y-axis

1 0 0 0  1 0 0 0 1

 1 0 0 0 1 0 0 0 1

Other transformations
Reflection: origin line x=y

 1 0 0 0  1 0 0 0 1

0 1 0 1 0 0 0 0 1

Other transformations
Shear: x-direction
0 0 1

1 shx 0 1 0 0

1 sh y 0

0 0 1 0 0 1

y-direction

Coordinate System Transformations

We often need to transform points from one coordinate system to another: 1. We might model an object in non-Cartesian space (polar) 2. Objects may be described in their own local system 3. Other reasons: textures, display, etc