3-D Coordinate System: - Locations Are Defined by X, Y, Z

3-D Coordinate System
• Locations are defined by x, y, z

3-D Coordinate System
• Locations are defined by x, y, z

Mathematical Notations
• 3D points can be described using simple

mathematical notation
P = (x, y, z)
Distance between Two 3D Points
• The distance between two points (Ax,Ay,Az)

and (Bx,By,Bz) can be found by again using
the pythagorus theorem
• Distance between A and B =
sqrt(dx2 + dy2 + dz2)
where
dx = Ax-Bx
dy = Ay-By
dz = Az-Bz
3D Vector
• a line going from the origin (0,0,0) to the

point (x,y,z).
Length of vector
• To calculate the length of a vector we simply

calculate the distance between the origin and
the point at (x,y, z) :
Operations between Points and Vectors
• point – point => vector

• point + point = point – ( - point) => vector
• vector – vector => vector
• vector + vector => vector
• point + vector => point
• point – vector = point + (-vector) => point
homogeneous coordinates
• Homogeneous coordinates: (xh, yh, h)
– Carry out operations on points and vectors
“homogeneously”
– h: Non-zero homogeneous parameter such that
– We can also write: (hx, hy, h)

– h=1 is a convenient choice so that we have (x, y, 1)
– Other values of h are useful in 3D viewing
transformations 8
2D translation matrix
9
2D rotation matrix
10
2D scaling matrix
11
Inverse transformations
Inverse translation
Inverse rotation
Inverse scaling
12
3D Translation
• Translation Distances tx, ty, tz

• For point P(x,y,z) after translation we have P′
(x′,y′,z′)
• x′ = x + tx ,
• y′ = y + ty ,
• z′ = z + tz
• (tx, ty , tz) is Translation vector
3D Translation
• can be expressed as a single matrix equation:
P′ = P + T
Where P = P′ = T =
3D Rotation
Rotating a point requires :

1) the coordinates for the point, and
2) the rotation angles
3D Rotation
3D Rotation
Here we need to know three different angles:
• How far to rotate around the X axis

(YZ rotation, or “pitch”)
• How far to rotate around the Y axis

(XZ rotation, or “yaw”)
• How far to rotate around the Z axis

(XY rotation, or “roll”)
pitch
• Rotation about x-axis
(i.e. in yz plane):
• x′ = x
• y′ = y cosθ – z sinθ
• z′ = y sinθ + z cosθ
yaw
• Rotation about y-axis
(i.e. in xz plane):
• x′ = z sinθ + x cosθ
• y′ =y
• z′ = z cosθ – x sinθ
roll
• Rotation about z-axis
(i.e. in xy plane):
• x′ = x cosθ – y sinθ
• y′ = x sinθ + y cosθ
• z’ = z
3D Rotation about x-axis
 x' 1 0 0 0  x 
 y ' 0 cos   sin  0  y 
  .
 z '  0 sin  cos  0  z 
    
 1  0 0 0 1  1 
3D Rotation about y-axis
 x'  cos 0 sin  0  x 

 y '  0 1 0   
0  y 
  .
 z '   sin  0 cos  0  z 
    
1  0 0 0 1  1 
3D Rotation about z-axis
 x' cos   sin  0 0  x 

 y '  sin  cos    
0 0  y 
  .
 z'  0 0 1 0  z 
    
1  0 0 0 1  1 
3D Scaling
• Coordinate transformations for scaling relative to
the origin are
• X` = X . Sx
• Y` = Y . Sy
• Z` = Z . Sz
Uniform Scaling
• We preserve the original shape of an object with a
uniform scaling
• ( Sx = Sy = Sz)
Differential Scaling
• We do not preserve the original shape of an
object with a differential scaling
• ( Sx <> Sy <> Sz)

3D Scaling w.r.t. Origin
S x 0 0 0
0 Sy 0 0

0 0 Sz 0
 
0 0 0 1
3D Scaling w.r.t. a fixed position
• Translate the fixed point to the origin.
• Scale the object relative to the coordinate origin
• Translate the fixed point back to its original
position
3D Reflection
• In general, three-dimensional reflection
matrices are set up similarly to those for two
dimensions. Reflections relative to a given axis are
equivalent to 180 degree rotations.

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3-D Coordinate System

• Locations are defined by x, y, z

• Locations are defined by x, y, z

• 3D points can be described using simple

• The distance between two points (Ax,Ay,Az)

• a line going from the origin (0,0,0) to the

• To calculate the length of a vector we simply

• point – point => vector

– We can also write: (hx, hy, h)

• Translation Distances tx, ty, tz

Rotating a point requires :

• How far to rotate around the X axis

• How far to rotate around the Y axis

• How far to rotate around the Z axis

 x'  cos 0 sin  0  x 

 x' cos   sin  0 0  x 

• ( Sx <> Sy <> Sz)

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