GraphicsLab@KoreaUniversity

cgvr.korea.ac.kr
Mathematics for
Computer Graphics

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GraphicsLab@KoreaUniversity
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Contents
Coordinate-Reference Frames
2D Cartesian Reference Frames / Polar Coordinates
3D Cartesian Reference Frames / Curvilinear Coordinates
Points and Vectors
Vector Addition and Scalar Multiplication
Scalar Product / Vector Product
Basis Vectors and the Metric Tensor
Orthonormal Basis
Metric Tensor
Matrices
Scalar Multiplication and Matrix Addition
Matrix Multiplication / Transpose
Determinant of a Matrix / Matrix Inverse
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Coordinate Reference Frames
Coordinate Reference Frames
Cartesian coordinate system
x, y, z ,
Non-Cartesian coordinate system
object .
Polar, Spherical, Cylindrical


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2D Cartesian Reference
System
2D Cartesian Reference Frames
Coordinate origin at the
lower-left screen corner
y
x
y
x
Coordinate origin in the
upper-left screen corner
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Polar Coordinates
Non-Cartesian System






Elliptical Coordinates, Hyperbolic or Parabolic
Plane Coordinates Symmetry
2
u u sin , cos r y r x = =
|
.
|

\
|
= + =

x
y
y x r
1 2 2
tan , u
u r s =
u
r
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Why Polar Coordinates?
x
x
y
y
dx
dx
du
du


Polar Coordinates
Cartesian Coordinates
2 2 2
r y x = +
u =
u =
sin
, cos
r y
r x
Circle
2D Cartesian :
Polar Coordinate
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3D Cartesian Reference
Frames



Three Dimensional Point
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3D Cartesian Reference
Frames


Graphics
Package






Video Monitor

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3D Curvilinear Coordinate
Systems
General Curvilinear Reference Frame
Orthogonal coordinate system
Each coordinate surfaces intersects at right angles
A general Curvilinear coordinate reference frame
x
2
axis
x
3
axis x
1
axis
x
1
= const
1
x
3
= const
3
x
2
= const
2
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3D Non-Cartesian System
Cylindrical Coordinates Spherical Coordinates
z
P(,u,z)
x axis
y axis
z axis
u

P(r,u, )
x axis
y axis
z axis
u
|
r
u cos = x
u sin = y
z z =
| u sin cos r x =
| u sin sin r y =
| cos r z =
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Point: ,
Vector: position


Magnitude Direction


) , ( ) , (
1 2 1 2 1 2 y x
V V y y x x P P V = = =
V
P
2

P
1

x
1
x
2

y
1

y
2

2 2
y x
V V V + =
|
|
.
|

\
|
=

x
y
V
V
1
tan o
Points and Vectors
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Vectors
3 Vector








Vector Addition and Scalar Multiplication

2 2 2
z y x
V V V V + + =
| |
cos ,
| |
cos ,
| |
cos
V
V
V
V
V
V
z
y
x
= = = | o
1 cos cos cos
2 2 2
= + + | o
o
|

V
x
z
y
) , , (
2 1 2 1 2 1 2 1 z z y y x x
V V V V V V V V + + + = +
) , , (
z y x
V V V V o o o o =
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Scalar Product
Definition



For Cartesian Reference Frame

Properties
Commutative
Distributive
|V
2
|cosu
u
V
2

V
1

t u u s s = 0 , cos | || |
2 1 2 1
V V V V
Dot Product, Inner Product
z z y y x x
V V V V V V V V
2 1 2 1 2 1 2 1
+ + =
1 2 2 1
V V V V =
3 1 2 1 3 2 1
) ( V V V V V V V + = +
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Vector Product
Definition



For Cartesian Reference Frame

Properties
AntiCommutative
Not Associative
Distributive
t u u s s = 0 , sin | || |
2 1 2 1
V V V V u
) , , (
2 1 2 1 2 1 2 1 2 1 2 1 2 1 x y y x z x x z y z z y
V V V V V V V V V V V V V V =
Cross Product, Outer Product
V
1
V
2
V
1
V
2
u
u

) (
1 2 2 1
V V V V =
3 2 1 3 2 1
) ( ) ( V V V V V V =
) ( ) ( ) (
3 1 2 1 3 2 1
V V V V V V V + = +
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Examples
Scalar Product Vector Product
Normal Vector of the Plane
u
V
2

V
1

Angle between Two Edges
(x
2
,y
2
)
(x
0
,y
0
)
(x
1
,y
1
)
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Basis Vectors
Basis (or a Set of Base Vectors)
Specify the coordinate axes in any reference frame
Linearly independent set of vectors
Any other vector in that space can be written as
linear combination of them

Vector Space
Contains scalars and vectors
Dimension: the number of
base vectors
Curvilinear coordinate-
axis vectors
u
2
u
1
u
3
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Orthonormal Basis
Normal Basis + Orthogonal Basis



Example
Orthonormal basis for 2D Cartesian reference frame

Orthonormal basis for 3D Cartesian reference frame
k j
k
k j
k k
= =
=
all for , 0
all for , 1
u u
u u
( ) ( ) 1 , 0 0 , 1 = =
y x
u u
( ) ( ) ( ) 1 , 0 , 0 0 , 1 , 0 0 , 0 , 1 = = =
z y x
u u u
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Metric Tensor
Tensor
Quantity having a number of components, depending
on the tensor rank and the dimension of the space
Vector tensor of rank 1, scalar tensor of rank 0

Metric Tensor for any General Coordinate
System
Rank 2
Elements:
Symmetric:

k j jk
g u u =
kj jk
g g =
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Properties of Metric Tensors
The Elements of a Metric Tensor can be
used to Determine
Distance between two points in that space
Transformation equations for conversion to another
space
Components of various differential vector
operators (such as gradient, divergence, and curl)
within that space
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Examples of Metric Tensors
Cartesian Coordinate System



Polar Coordinates

=
=
otherwise , 0
if , 1 k j
g
jk
( ) ( ) 1 , 0 0 , 1 = =
y x
u u
u u
u u
u
cos sin
, sin cos
r r
y x
y x r
u u u
u u u
+ =
+ =
(

=
2
0
0 1
r
g
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Matrices
Definition
A rectangular array of quantities



Scalar Multiplication and Matrix Addition
(
(
(
(

=
mn m m
n
n
a a a
a a a
a a a
A
...
: : :
...
...
2 1
2 22 21
1 12 11
|
|
.
|

\
|
=
|
|
.
|

\
|
=
22 21
12 11
22 21
12 11
,
b b
b b
B
a a
a a
A
|
|
.
|

\
|
+ +
+ +
= +
22 22 21 21
12 12 11 11
b a b a
b a b a
B A
|
|
.
|

\
|
=
22 21
12 11
ka ka
ka ka
kA
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Matrix Multiplication
Definition



Properties
Not Commutative
Associative
Distributive
Scalar Multiplication
=
(i,j)
j-th column
i-th row
m
l
n
n
m
l

=
=
n
k
kj ik ij
b a c
1
AB C =
BA AB=
) ( ) ( BC A C AB =
BC AB C B A + = + ) (
) ( ) ( ) ( AB k kB A B kA = =
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Matrix Transpose
Definition
Interchanging rows and columns




Transpose of Matrix Product
| |
(
(
(

=
(
(
(

=
(

c
b
a
c b a
T
T
,
6 3
5 2
4 1
6 5 4
3 2 1
( )
T T
T
A B AB =
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Determinant of Matrix
Definition
For a square matrix, combining the matrix
elements to product a single number
2 2 matrix


Determinant of nn Matrix A (n >2)

=
+
=
n
j
jk jk
k j
a
1
det ) 1 ( det A A
21 12 22 11
22 21
12 11
a a a a
a a
a a
=
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Inverse Matrix
Definition

Non-singular matrix
If and only if the determinant of the matrix is non-zero
2 2 matrix


Properties
I A A I AA = =
1 1
T T
) A ( ) A ( A B ) AB ( A ) A (
1 1 1 1 1 1 1
= = =
(

a c
b d
bc ad
A
1
1
(

=
d c
b a
A