Rotation about a fixed point

Chapter 5: 2-D
x’ = xf + (x – xf)cosθ – (y – yf)sin θ
Geometric y’ = yf + (x – xf)sinθ + (y – yf)cos θ
( x' , y ' )
Transformations
The basic concept is to:
 Align the coordinate to be r
( x, y )
Homogeneous coordinates & transformed according to θ r
the fixed point.
reflection φ
 Rotate it. (xf, yf)
 Move it back w.r.t. the
original position by adding
the fixed point in x’ and y’.
SCALING WRT A FIXED POINT - ?

 x '  1 0 t x   x 
 y ' = 0 1 t  ⋅  y 
Homogeneous Coordinates    y  

 1  0 0 1   1 

General matrix form for TRANSLATION
P ' = T (t x , t y ) ⋅ P
translation/rotation/scale:
 x' cos θ − sin θ 0  x 
P' = M 1 ⋅ P + M 2  y ' =  sin θ
   cos θ 0 ⋅  y 

How can we eliminate addition?  1   0 0 1  1 
ROTATION

Homogeneous coordinates P ' = R (θ ) ⋅ P
xh y  x '   s x 0 0  x 
( xh , y h , h ) x= , y= h
h h  y ' =  0 s 0 ⋅  y 
   y   
 1   0 0 1   1 

Easiest: h =1 SCALING
P' = S (s x , s y ) ⋅ P

1
Inverse Transformations Reflection

Accomplished by the inverse of the matrix

Translation:
Reflection is a transformation that
1 0 − t x  produces a mirror image of an object.
T −1 = 0 1 − t y 

This mirror image is generated
0 0 1 
relative to an axis of reflection by

Rotation: rotating the object 180o about the
 cos θ sin θ 0
R −1 = − sin θ cos θ 0 reflection axis.
 0 0 1 
Axis of reflection can be any line

Scale:  y = 0.
1 
s 0 0  x = 0.
 x 
1 x = y.
S −1 =  0 0 
 sy 
0 0 1
 x=-y.
 
 

Reflection y = 0 Reflection x = 0
y
1 y

2 2'
 x' 1 0 0  x   x '  − 1 0 0  x 
2 3
x  y ' = 0 − 1 0 ⋅  y   y ' =  0 1 0  y 
     
3 3'
    
 1  0 0 1  1   1   0 0 1  1 
2' 3'

1 1'

1'

2
 Reflection about the origin Reflection about y = x
y
3

3'
y
 x'  0 1 0   x 
 y' = 1 0 0 ⋅  y 
     
2'
2
 1  0 0 1  1 
1'  x '  − 1 0 0  x 
 y ' =  0 − 1 0 ⋅  y  1
Can also be done by a
x
      1'
sequence of rotations and
1
 1   0 0 1  1  3'
reflections:
2

 C rotation 45o.
2'
x
 Reflection wrt x-axis.
3
 CC rotation 45o.

REFLECTION ABOUT y=-x - ?