11/24/2016 3DTransformation

3DTransformation
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Rotation
3D rotation is not same as 2D rotation. In 3D rotation, we have to specify the angle of
rotationalongwiththeaxisofrotation.Wecanperform3DrotationaboutX,Y,andZaxes.
Theyarerepresentedinthematrixformasbelow

1 0 0 0 cos 0 sin 0

0 cos sin 0 0 1 0 0
Rx () = Ry () = Rz ()
0 sin cos 0 sin 0 cos 0

0 0 0 1 0 0 0 1

cos sin 0 0

sin cos 0 0
=
0 0 1 0

0 0 0 1

Thefollowingfigureexplainstherotationaboutvariousaxes

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Scaling
Youcanchangethesizeofanobjectusingscalingtransformation.Inthescalingprocess,you
either expand or compress the dimensions of the object. Scaling can be achieved by
multiplying the original coordinates of the object with the scaling factor to get the desired
result.Thefollowingfigureshowstheeffectof3Dscaling

In 3D scaling operation, three coordinates are used. Let us assume that the original
coordinates are (X, Y, Z), scaling factors are (S X, S Y , S z ) respectively, and the produced
coordinatesare(X,Y,Z).Thiscanbemathematicallyrepresentedasshownbelow

Sx 0 0 0

0 Sy 0 0
S =

0 0 Sz 0

0 0 0 1

P=PS

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Sx 0 0 0

0 Sy 0 0
[X Y Z 1] = [X Y Z 1]

0 0 Sz 0

0 0 0 1

= [X. S x Y . Sy Z . Sz 1]

Shear
Atransformationthatslantstheshapeofanobjectiscalledthesheartransformation.Like
in2Dshear,wecanshearanobjectalongtheXaxis,Yaxis,orZaxisin3D.

Asshownintheabovefigure,thereisacoordinateP.Youcanshearittogetanewcoordinate
P',whichcanberepresentedin3Dmatrixformasbelow
y z
1 shx shx 0

x z
shy 1 shy 0
Sh =
x y
shz shz 1 0

0 0 0 1

P=PSh

y z
X = X + S hx Y + S hx Z

x z
Y = S hy X + Y + shy Z

x y
Z = S hz X + S hz Y + Z

TransformationMatrices
Transformationmatrixisabasictoolfortransformation.Amatrixwithnxmdimensionsis
multiplied with the coordinate of objects. Usually 3 x 3 or 4 x 4 matrices are used for

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transformation.Forexample,considerthefollowingmatrixforvariousoperation.

y z
1 0 0 0 Sx 0 0 0 1 sh x sh x 0

x z
0 1 0 0 0 Sy 0 0 sh y 1 sh y 0
T = S = Sh =
x y
0 0 1 0 0 0 Sz 0 sh z sh z 1 0

tx ty tz 1 0 0 0 1 0 0 0 1

TranslationMatrix ScalingMatrix ShearMatrix

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

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

Rx () = Ry () = Rz () =
0 sin cos 0 sin 0 cos 0 0 0 1 0

0 0 0 1 0 0 0 1 0 0 0 1

RotationMatrix

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