Scribd Logo
Upload

Welcome to Scribd!

  • 11 views

    Rotation About An Arbitrary Axis (Line)

    Uploaded by

    Upender Dhull
    This document describes the process of rotating points around an arbitrary axis (line). It involves 7 steps: 1) Define the axis as a line between two points. 2) Translate one point to the origin. 3) Rotate the points around the X-axis. 4) Rotate around the Y-axis. 5) Rotate the desired amount around the Z-axis. 6) Reverse the previous Y rotation. 7) Reverse the previous X rotation. 8) Reverse the initial translation. The result is a transformation matrix that can rotate any set of points the desired amount around the specified axis. An example rotates 4 points 60 degrees around a line.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd

    Rotation About An Arbitrary Axis (Line)

    Uploaded by

    Upender Dhull
    11 views16 pages
    This document describes the process of rotating points around an arbitrary axis (line). It involves 7 steps: 1) Define the axis as a line between two points. 2) Translate one point to the origin. 3) Rotate the points around the X-axis. 4) Rotate around the Y-axis. 5) Rotate the desired amount around the Z-axis. 6) Reverse the previous Y rotation. 7) Reverse the previous X rotation. 8) Reverse the initial translation. The result is a transformation matrix that can rotate any set of points the desired amount around the specified axis. An example rotates 4 points 60 degrees around a line.

    Original Description:

    cad rotation

    Original Title

    4_2_RotateArbi

    Copyright

    © Attribution Non-Commercial (BY-NC)

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    This document describes the process of rotating points around an arbitrary axis (line). It involves 7 steps: 1) Define the axis as a line between two points. 2) Translate one point to the origin. 3) Rotate the points around the X-axis. 4) Rotate around the Y-axis. 5) Rotate the desired amount around the Z-axis. 6) Reverse the previous Y rotation. 7) Reverse the previous X rotation. 8) Reverse the initial translation. The result is a transformation matrix that can rotate any set of points the desired amount around the specified axis. An example rotates 4 points 60 degrees around a line.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    11 views16 pages

    Rotation About An Arbitrary Axis (Line)

    Uploaded by

    Upender Dhull
    This document describes the process of rotating points around an arbitrary axis (line). It involves 7 steps: 1) Define the axis as a line between two points. 2) Translate one point to the origin. 3) Rotate the points around the X-axis. 4) Rotate around the Y-axis. 5) Rotate the desired amount around the Z-axis. 6) Reverse the previous Y rotation. 7) Reverse the previous X rotation. 8) Reverse the initial translation. The result is a transformation matrix that can rotate any set of points the desired amount around the specified axis. An example rotates 4 points 60 degrees around a line.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    You are on page 1of 16

    Rotation about an Arbitrary Axis (Line)

    R
    Rotation
    i about
    b
    an A
    Arbitrary
    bi
    A
    Axis
    i (Li
    (Line))
    Z

    P1

    P1

    P2

    Z0

    P0
    X0

    Y0

    P0

    x = Au + x0
    y = Bu + y0

    0 < =u <=1

    z = Cu + z0
    L = A2 + B 2 + C 2 u

    B
    A

    AB

    Step 1: Translate P0 to Origin O

    P0 = [ xo yo zo ]T
    0 0 x0
    1 0 y0
    0 1 z0

    0 0
    1

    1
    0
    [D] =
    0

    P1(A,B,C)

    A
    P0

    B
    xx

    Step
    p 2: Rotate Vector about X Axis to g
    get into the x - z p
    plane
    L = A2 + B 2 + C 2
    V = B2 + C 2
    B
    sin 1 =
    V
    C
    cos1 =
    V
    0
    1
    0 cos
    1
    [Rx ] =
    0 sin 1

    0
    0

    0
    sin 1
    cos1
    0

    1 0
    0 C
    0
    0 V
    =
    0 0 B

    1 V
    0 0

    0
    B

    V
    C
    V
    0

    Step
    p 3: Rotate about the Y axis to g
    get it in the Z direction
    Rotate a negative angle (CW)!

    A
    sin 2 =
    L
    V
    cos 2 =
    L
    cos 2
    0
    Ry =
    sin 2

    0 sin 2
    1
    0
    0 cos 2
    0

    V
    0 L

    0 0
    =

    0
    A

    1 L
    0

    0
    1
    0
    0

    L
    0
    V
    L
    0

    v
    Step 4: Rotate angle about axis
    L

    cos
    sin
    [Rz ] =
    0

    sin
    cos
    0
    0

    0 0
    0 0
    1 0

    0 1

    Step 5: Reverse the rotation about the Y axis


    V
    L
    0
    1
    Ry = A

    L
    0

    [ ]

    A
    L
    1 0
    V
    0
    L
    0 0
    0

    0
    0

    cox 2
    0
    Ry =
    sin 2

    [ ]

    0 sin 2
    1
    0
    0 cos 2
    0
    0

    Inverse of Rotation:
    Replace

    by

    sin

    by

    sin

    cos remains cos (why?)

    V
    0
    L
    0 0
    =
    0 A

    1 L
    0

    A
    L
    0
    V
    L
    0

    0
    1
    0
    0

    0
    0

    St 6:
    Step
    6 Reverse
    R
    rotation
    t ti about
    b t the
    th X axis
    i
    1 0

    C
    0

    1
    R
    [ x ] = VB
    0
    V

    0 0
    0
    1
    0 cos
    1
    [Rx ] =
    0 sin 1

    0
    0

    0
    sin
    i 1
    cos1
    0

    0
    B
    V
    C
    V
    0

    1 0
    0 C
    0
    0 V
    =
    0 0 B

    1 V
    0 0

    0
    B

    V
    C
    V
    0

    Step 7: Reverse translation

    [ D ]1

    1 0

    0 1
    =
    0 0

    0 0

    0 x0

    0 y0

    1 z0

    0 1

    Overall Transformation

    [T ] = [ D] [ Rx ] [ Ry ] [ Rz ][ Ry ][ Rx ][ D]
    P2 = [T ]P1

    An Example
    CCW

    original
    60
    120

    180

    p1 p2 p3 p4

    An Example
    P1 =
    Given the point matrix (four
    points) on the right; and a line,
    NM, with p
    point N at ((6, -2, 0))
    and point M at (12, 8, 0).

    3 10 1 3
    5 6 1 5
    0 0 0 0
    1 1 1 1

    1. Calculate the constants


    ( h Line/Axis
    (the
    Li /A i off Rotation)
    R
    i )
    x = 6 + 6u

    Rotate the these four points 60


    degrees around line NM (alone
    the N to M direction) N: u=0;
    M: u=1
    Po = N
    P1 = M

    A = 12 6 = 6

    y = 2 + 10u
    z=0
    Thus
    A = 6, B = 10, C = 0

    B = 8 (2)) = 10

    L = A2 + B 2 + C 2 = 11.6619

    C = 0 0 = 0

    V = B 2 + C 2 = 10

    2 Translate N to the origin


    2.

    3 Rotate about the X axis


    3.

    [D] = 1 0 0 -6
    010 2
    001 0
    000 1

    [R]x = 1 0 0 0
    0 C/V -B/V 0
    0 B/V C/V 0
    0 0
    0 1

    4. Rotate about the Y axis

    5. Rotate 60 degree (positive)

    [R]y = V/L
    0
    A/L
    0

    [R]z = cos(60) -sin(60) 0 0


    sin(60) cos(60) 0 0
    0
    0
    1 0
    0
    0
    0 1

    0 -A/L 0
    1 0 0
    0 V/L 0
    0
    0 1

    6. Reverse [R]y

    7. Reverse [R]x

    V/L 0 A/L 0
    [R]y-1= 0 1 0 0
    -A/L 0 V/L 0
    0 0 0 1

    1
    [R]x-1= 0
    0
    0

    8 Reverse the Translation


    8.
    1
    [D]-11 = 0
    0
    0

    0
    1
    0
    0

    0 6
    0 -22
    1 0
    0 1

    0
    0 0
    C/V B/V 0
    -B/V
    B/V C/V 0
    0
    0 1

    9 Calculate
    9.
    C l l t the
    th total
    t t l transformation
    t
    f
    ti

    [T ] = [ D]1[ Rx ]1[ Ry ]1[ Rz60 ][ Ry ][ Rx ][ D]


    P2 = [T ]P1
    5.6471
    [P]2 = 3.4118
    3 4118
    5.3468
    1.0000
    p1

    10.2941 3.5000 5.6471


    5 8235 -0.5000
    5.8235
    0 5000 3.4118
    3 4118
    0.5941 5.0498 5.3468
    1.0000 1.0000 1.0000
    p2

    p3

    p4

    CCW

    original
    60
    120

    180

    You might also like