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    Sweep - Translational and Rotational

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    kannanviknesh
    This document discusses 3D surface representations and transformations. It covers sweep functions for defining shapes using translation or rotation, as well as basic transformations like translation, scaling, and rotation using matrix representations. Homework questions involve applying transformations to vertices, defining a surface table for a sphere using a sweep function, and generating an "egg" shape using a sweep function.

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    Sweep - Translational and Rotational

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    kannanviknesh
    633 views6 pages
    This document discusses 3D surface representations and transformations. It covers sweep functions for defining shapes using translation or rotation, as well as basic transformations like translation, scaling, and rotation using matrix representations. Homework questions involve applying transformations to vertices, defining a surface table for a sphere using a sweep function, and generating an "egg" shape using a sweep function.

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    Sweep- Translational and Rotational

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    This document discusses 3D surface representations and transformations. It covers sweep functions for defining shapes using translation or rotation, as well as basic transformations like translation, scaling, and rotation using matrix representations. Homework questions involve applying transformations to vertices, defining a surface table for a sphere using a sweep function, and generating an "egg" shape using a sweep function.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    633 views6 pages

    Sweep - Translational and Rotational

    Uploaded by

    kannanviknesh
    This document discusses 3D surface representations and transformations. It covers sweep functions for defining shapes using translation or rotation, as well as basic transformations like translation, scaling, and rotation using matrix representations. Homework questions involve applying transformations to vertices, defining a surface table for a sphere using a sweep function, and generating an "egg" shape using a sweep function.

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    You are on page 1of 6

    18/01/2012

    DEFINING OBJECTS - 3D REPRESENTATIONS


    3D surface representation - continued Sweep functions Elementary 3D transformations Translation Scaling Rotation

    Surface representations Object triangulation

    Sweep representations
    Define shape Define sweep path

    Sweep representations

    Sweep representations
    Define sweep path

    Sweep representations

    Define shape

    Source: http://groups.csail.mit.edu/graphics/classes/6.837/F98/talecture/

    18/01/2012

    Sweep functions: implementation

    Basic transformations
    Translation (shift) Scaling

    3D Transformations quick revision

    Rotation

    Translation

    Scaling
    about the origin
    D

    D Y A B D C B T = [Tx Ty Tz] A C

    A
    Y

    x = x + Tx y = y + Ty z = z + Tz

    D A B C B
    S = [Sx Sy Sz]

    x = x * Sx y = y * Sy z = z * Sz S>1 0<S<1 S<0 - enlarge - reduce - mirror

    Z X

    Rotation in the right-handed coordinate system

    Positive angle of rotation for Z axis


    Z axis points at the observer

    Y Positive angle of rotation is counter-clockwise when the axis about which it occurs points toward the observer

    18/01/2012

    Rotation about Z axis


    Y

    Rotation about X axis


    D

    x' = xcos - ysin


    C D B D

    A
    Z A D

    y' = xsin + ycos z' = z

    B
    C X

    y' = ycos - zsin z' = ysin + zcos x' = x

    A A Z B

    B C X

    Positive angle

    Positive angle

    Rotation about Y axis


    Axis of rotation is
    D Y D

    Rotation
    Direction of positive rotation is from Y to Z

    X
    B C A

    C A B

    z' = zcos - xsin x' = zsin + xcos y' = y Y from Z to X

    Z
    Positive angle

    from X to Y

    Matrix representation
    Homogeneous coordinates
    Common notation for ALL transformations Common computational mechanism for ALL transformations Simple mechanism for combining a number of transformations => computational efficiency

    Homogeneous coordinates
    Point P = (x, y, z ) represented by a vector
    x y = [x y z 1]T z 1 Transformations

    P=

    All represented by a 4 x 4 matrix M

    M=

    a b c 0

    d e f 0

    g h i 0

    j k l 1

    18/01/2012

    Point transformation in homogeneous coordinates Implemented by matrix multiplication


    P = M P

    Transformation matrices for elementary transformations


    4 x 4 matrix Homogeneous coordinates

    x' a y' b = z' c 1 0

    d e f 0

    g h i 0

    j k l 1

    x y z 1

    Translation, scaling, rotation and perspective projection, all defined through matrices

    See this website for a nice explanation of homogeneous coordinates: http://www.devmaster.net/forums/showthread.php?t=2092

    Translation
    x = x + Tx y = y + Ty z = z + Tz x = Sx * x y = Sy * y z = Sz * z

    Scaling

    T=

    1 0 0 0

    0 1 0 0

    0 Tx 0 Ty 1 Tz 0 1

    Sx 0 S= 0 0

    0 Sy 0 0

    0 0 Sz 0

    0 0 0 1

    Rotation about Z axis


    x' = xcos - ysin y' = xsin + ycos z' = z

    Rotation about X axis


    y' = ycos - zsin z' = ysin + zcos x' = x

    cos -sin sin cos Rz = 0 0 0 0

    0 0 1 0

    0 0 0 1

    0 1 0 0 cos -sin Rx = 0 sin cos 0 0 0

    0 0 0 1

    18/01/2012

    Rotation about Y axis


    z' = zcos - xsin x' = zsin + xcos y' = y

    Key concepts for 3D transformations in Java


    Class: Transform3D Example methods setTranslation, setRotation, set Scale SetTransform rotX, rotY, rotZ transform mul

    cos Ry = 0 -sin 0

    0 sin 0 1 0 0 0 cos 0 0 0 1

    Sweep functions: implementation


    Translational sweep
    Define a shape as a polygon vertex table Define a sweep path as a sequence of translation vectors Translate the shape, continue building a vertex table Define a surface table
    T1 T2

    % Define a crossection of a unit cube in the YZ plane crossection=[0 0 0 1 01 01 01 11 0 0 1 1]; K=4; % Define a sweep path (relative displacement vectors) path=[0 0 0 100 2 0 0]; % Create a vertex table for n=1:N Tm=makehgtform('translate',path(:,n)); i1=K*(n-1)+1; % current start index to array V i2=K*(n-1)+K; % current end index to array V V(:,i1:i2)=Tm*C; end

    % Generate vertex table for all the side-faces for n=1:K:K*(N-1) for k=1:K F((n-1)+k,1)=(n-1)+k; F((n-1)+k,2)=n+K+k-1; F((n-1)+k,3)=n+K+k; F((n-1)+k,4)=(n-1)+k+1; F((n-1)+k,5)=F((n-1)+k,1); end end % ... And for the end faces for k=1:K EndFaces(1,:)=[1:K]; EndFaces(2,:)=[K*N:-1:K*(N-1)+1]; end

    Sweep functions: implementation


    20

    Rotational sweep
    Define a shape as a polygon vertex table
    -200

    15 10 5 0 -5 -10 -15 -20 -20

    - 10

    10

    20

    -100

    100

    200 20 0 -20 -150 -100 -50 0 50 100 150

    Define a sweep path as a sequence of rotations Rotate the shape, continue building a vertex table Define a surface table

    18/01/2012

    %% Generate a crossection in 3D (homogeneous coords) % Simple circle equation for k=1:K C(k,1)=rK*cosd((k-1)*alphaK); C(k,2)=rK*sind((k-1)*alphaK); C(k,3)=0; C(k,4)=1; end
    20 15 10 5 0 -5 -10 -15 -20 -20 - 10 0

    % Generate vertices % Rotate the crossection about % axis Y for n=K:K:K*N V(:,n+1:n+K)=Ry* V(:,1:K);
    10 20

    end

    %% Generate torus % Define 3D transformation matrices Tm=makehgtform('translate',[rN 0 0]); % Translation Ry=makehgtform('yrotate',alphaN*pi/180); % Rotation about Y axis % Translate the crossection Ctemp (only once) V(:,1:K)=Tm*C;

    % Generate face table (pointers to vertices, not vertices themselves) for n=1:K:K*N for k=1:K F((n-1)+k,1)=(n-1)+k; F((n-1)+k,2)=(n-1)+k+1; F((n-1)+k,3)= n+K+k; F((n-1)+k,4)= n+K+k-1; end end

    -200

    -100

    100

    200 20 0 -20 -150 -100 -50 0 50 100 150

    Homework
    1. Suggest a simple way of applying a transformation defined by a matrix M to a large set of N 3-dimensional vertices in homogeneous coordinates. 2. Explain how you would define a surface table for a sphere using a sweep function. Specify precisely the shape and the sweep path. 3. For adventureous: Using a sweep function define an egg shape (NOT an ellipsoid!)

    Matlab exercise
    Extend the code in ex2_torus.m to define and display five linked toruses in different colours. You will also need file torus.m which is a function generating the face and the vertex table for a torus. Matlab code for both functions is in file www.cs.bham.ac.uk/~exc/Teaching/Graphics/ex2_torus.zip Write Matlab code to generate a surface table for a sphere using a sweep function.

    Next lecture

    Height maps Parametric surfaces

    Reminder about Matlab tutorials


    http://www.cyclismo.org/tutorial/matlab/
    Work through the tutorial should take you 2-3 hours. Ignore first five slides which have information relevant to the MIT course Have a look at the Programming and Graphics sections

    http://www.cs.bham.ac.uk/~exc/Teaching/Graphics/Matlab_tutorial.pdf Matlab Help

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