TRANSFORMATIONS OF OBJECTS

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Transformation
• Transformation is the application of some mathematical
rules to an object or a pixel to bring about some change
to it.
• This change can be a displacement of an object from
one point to another or a change in its size or shape.
• Two types of transformations are
Solid body transformations
Affine transformations
 Solid body transformations
• In Solid body transformations shape of the object after the
transformation is applied to it is not distorted or changed.
• The shape remains intact after the object is transformed.
• In ‘solid body’ transformations the following properties of
the objects are preserved.
▪ The distances between the points of the object are
preserved.
▪ The ratios of the distance between the points of the
object are preserved.
▪ The angles after and before the transformations remain
the same.
▪ Parallel lines remain parallel after the transformation.
 EXAMPLE OF
TRANSFORMATIONS
The house has been scaled, rotated and translated, in
both 2D and 3D.

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USING TRANSFORMATIONS (2)
In 3D, many cubes make a city.

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USING TRANSFORMATIONS (3)
• The snowflake exhibits symmetries.
• We design a single motif and draw the whole shape
using appropriate reflections, rotations, and
translations of the motif.

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USING TRANSFORMATIONS (5)
• In a computer animation, objects move.
• We make them move by translating and rotating
their local coordinate systems as the animation
proceeds.
• A number of graphics platforms, including
OpenGL, provide a graphics pipeline: a sequence
of operations which are applied to all points that are
sent through it.
• A drawing is produced by processing each point.

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THE OPENGL GRAPHICS PIPELINE
This version is simplified.

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 Affine transformations
• Affine transformations are the transformations that change the
shape of the object they are applied on but they do not distort the
object.
• Affine transformations have the following properties.
▪ The distances between the points are not preserved.
▪ The angles are not preserved.
▪ The ratios of the distances between the points are preserved.
▪ Parallel lines remain parallel after the transformations are
applied.
▪ Affine transformations include i) Scaling ii) Shear
AFFINE TRANSFORMATIONS
Matrix form of the affine transformation in 2D:

For a 2D affine transformation the third row of the matrix is always (0, 0,
1).

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AFFINE TRANSFORMATIONS (5)
• Some people prefer to use row matrices to represent points and
vectors rather than column matrices: e.g., P = (Px, Py, 1)

• In this case, the P vector must pre-multiply the matrix, and the
transpose of the matrix must be used: Q = P MT.

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AFFINE TRANSFORMATIONS
When vector V is transformed by the same affine transformation as point
P, the result is

Important: to transform a point P into a point Q, post-multiply M by P: Q = M P.

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AFFINE TRANSFORMATIONS
• Example: find the image Q of point P = (1, 2, 1) using the
affine transformation

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GEOMETRIC EFFECTS OF AFFINE
TRANSFORMATIONS
Combinations of four elementary transformations:
(a) a translation, (b) a scaling, (c) a rotation, and (d)
a shear (all shown below).

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 TRANSLATIONS
• The amount P is translated does not depend on P’s
position.
• It is meaningless to translate vectors.
• To translate a point P by a in the x direction and b
in the y direction use the matrix:

• Only using homogeneous coordinates allow us to

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SCALING
• Scaling is about the origin.
• If Sx = Sy the scaling is uniform; otherwise it distorts the
image.
• If Sx or Sy < 0, the image is reflected across the x or y axis.
• The matrix form is

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EXAMPLE OF SCALING
• The scaling (Sx, Sy) = (-1, 2) is applied to a collection of points.
• Each point is both reflected about the y-axis and scaled by 2 in
the y-direction.

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TYPES OF SCALING
• Pure reflections, for which each of the scale
factors is +1 or -1.
• A uniform scaling, or a magnification about
the origin: Sx = Sy, magnification |S|.
▪ Reflection also occurs if Sx or Sy is negative.
▪ If |S| < 1, the points will be moved closer to the
origin, producing a reduced image.
• If the scale factors are not the same, the
scaling is called a differential scaling.

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ROTATION
• Counterclockwise around origin by angle θ:

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SHEAR
Shear H about origin: x
depends linearly on y in
the figure.
for example, italic
letters).

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 INVERSE TRANSLATION AND SCALING

Inverse of translation T-1:

Inverse of scaling S-1:

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INVERSE ROTATION AND
SHEAR
• Inverse of rotation R = R(-θ):
-1

• Inverse of shear H-1: generally h=0 or g=0.

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COMPOSING AFFINE
TRANSFORMATIONS
• Usually, we want to apply several affine
transformations in a particular order to the
figures in a scene: for example,
▪ translate by (3, - 4)
▪ then rotate by 30o
▪ then scale by (2, - 1) and so on.
• Applying successive affine transformations is
called composing affine transformations.

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