Lecture Notes of Computer Graphics Prepared by Dr.Eng.

Ziyad Tariq Al-Ta'i

Three-Dimensional (3-D) Graphics Coordinates systems

Our world is composed of the 3-dimensional images. Objects not only have height and width but also depth. Displaying 3-D objects on a 2-D display screen seem to be a hard task. If height and width are represented by (x,y) coordinates, how the third dimensional (depth) be displayed? The techniques used in computer graphics to display this 3-D world are based on the same principles an artist or a photographer employs in producing a realistic image on paper or film, the difference is that the computer uses a mathematical model instead of lens to create the image.

Coordinates Systems:
There are three types of coordinates systems to locate any point in the space: Cartesian, Cylindrical, Spherical coordinates.

1-

Cartesian Coordinates System:

This coordinates have three axes: x, y, and z. When you

enter coordinates values, you indicate a point's distance (in units) and its direction (+ or -) along the x, y, and z axes relative to the coordinates system origin (0,0,0) or relative to the previous point.

2- Cylindrical Coordinates System:

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2-D polar coordinates system uses a distance and an angle to locate a point. When you enter polar coordinates values, you indicate a point's distance from the origin or from the previous point and its angle along the (x,y) plane of the current coordinates system. Cylindrical coordinates entry is similar to 2-D polar coordinates entry, but with an additional distance from the polar coordinates perpendicular to the (x,y) plane. You locate a point by specifying its distance along relative to the x-axis and its z value perpendicular to the (x,y) plane as shown in following figure. (5<60,6) Y X 60o 5 Z 6 The point coordinate (5<60,6) indicates a point 5 units from the origin, 60 degrees from the x-axis in the (X,Y) plane, and 6 units along the z-axis. The coordinate (8<30,1) indicates a point 8 units from the origin in the (X,Y) plane, 30 degrees from the x-axis in the (X,Y) plane and 1 unit along the z-axis.

3- Spherical Coordinates System:

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Spherical coordinate entry in 3-D is also similar to polar coordinate entry in 2-D. You can locate a point by specifying its distance from the origin, its angle from x-axis in the (x,y) plane, and its angle from the (x,y) plane. The coordinate (8<60<30) indicates a point 8 units from the origin, 60 degrees from the x-axis in the (x,y) plane, and 30 degrees up from the (x,y) plane as shown in figure below. (x,y)plane

30o (8<60<30) Y X 60o 8

Example: Convert the Cartesian coordinates of the point

(1,2,3) to cylindrical coordinates? tan( )=
2 =63.4 1

1 2

L= 12 + 22 L=2.24 , H=3 Cylindrical coordinates = (2.24<63.4,3)

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Lecture Notes of Computer Graphics Prepared by Dr.Eng. Ziyad Tariq Al-Ta'i

Example: Convert the Cartesian coordinates of the point

(1,2,3) to spherical coordinates? tan( )= tan( )=
2 =63.4 (from x-axis) 1 3 1 + 22
2

1 2

=53.3(from xy-plane)

L= 12 + 22 + 32 L=3.74 Spherical coordinates = (3.74<63.4<53.3).

Vectors:
Vector is the difference between two points which the vector passes through these points as shown in the following example. Example: Find the vector which pass through the point p1(1,1,1) and the point p2(1,2,3)? V(1-1,2-1,3-1)=(0,1,2) - Let V1=(x1,y1,z1) and V2=(x2,y2,z2) be two three dimensional vectors. The dot product of these two vectors is defined as: V1.V2=x1x2+y1y2+z1z2 The dot product of two vectors is not a vectors but a real number (scalar). Example: If V1=(1,2,3) and V2=(-2,1,-4) then: V1.V2=1(-2)+2(1)+3(-4)=-12

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Lecture Notes of Computer Graphics Prepared by Dr.Eng. Ziyad Tariq Al-Ta'i

- The cosine angle between two vectors V1 and V2 is defined as:

Cos = V 1.V 2 V1 V 2

Where V 1 is the length of the vector V1 and V 2 is the length of the vector V2, and V =
x2 + y2 + z 2 .

Example: Find the angle between the vector V1(1,0,0) and the vector V2(1,1,0)?
V = x 2 + y 2 + z 2 , 45
3

) 45

(0,0)

X1 a- Original figure
e Y

(translation) Y

Y1 .

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(0,0)

X1

c- second step (rotation) Where the second coordinates system, denoted by (x1,y1) is at clockwise angle 45o wi3 R= EMBED Equation.3 A point P defined in the (x,y,z) coordinates system ha Y Y1 Y1 . (8,6) (5,3) 45 45 X X1 a- Original figure Y Y1 . Y1 b-First step (translation) (0,0) X . (3,3)

(0,0) X1 X c- second step (rotation) Where the second coordinates system, denoted by (x1,y1) is at clockwise angle 45o with the original coordinates system

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(x,y). The steps of transforming coordinates system for the point (8,6) at figure (a) above in 2-D are: First step (shown at figure (b) above): is 2-D translation of second coordinates system (x1,y1) to first coordinates system (x,y) by:
0 0 1 0 1 0 Translate (-5,-3)= 5 3 1

Second step (shown at figure (c) above): is 2-D rotation of second coordinates system (X1,Y1) counterclockwise 45o by:
cos 45 sin 45 0 Rotate(45)= sin 45 cos 45 0 0 0 1

The above example can be extended to 3-D. Let a coordinates system (x1,y1,z1) be defined in terms of the standard (x,y, and z) coordinates by the unit vector: u=(ux,uy,uz), v=(vx,vy,vz), w=(wx,wy,wz) also assume the origin of the (x1,y1,z1) coordinates system is at (a,b,c) with respect to the (x,y,z) coordinates system as shown in figure below: Z Z1 W U X Y X1 V Y1

The transformation sends the (x1,y1,z1) coordinates system to the (x,y,z) system (with u going to x, v going to y, and w

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going to z) by using the product of translation followed by a rotation:

0 0 1 0 1 0 Tr R= 0 0 1 a b c 0 ux uy uz 0 0 vx vy vz 0 0 wx wy wz 0 1 0 0 0 1

A point P defined in the (x,y,z) coordinates system has representation P1 in (x1,y1,z1) coordinates system given by: P1=P Tr R Example: The coordinates of point P in terms of (x,y,z) is (0,0,5), find the coordinates of the same point in terms of (x1,y1,z1) using transforming coordinates system with center at (5,5,-5) as shown in figure below: (5,5,-5)
x1 (5,5,0)

z1

(10,5,-5)

y1

y x z

P(0,0,-5)

(5,0,-5)

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P1 Vx1 Vy1 Vz1 (5,5,-5) (5,5,-5) (5,5,-5)

P2 (5,5,0) (5,0,-5) (10,5,-5)

Vector (P2-P1) (0,0,5) (0,-5,0) (5,0,0)

Normalized (0,0,1) (0,-1,0) (1,0,0)

P in terms of (x1,y1,z1)=P1=
0 1 0 1 Tr R= [ 0 0 5 1] =P 0 0 5 5 0 0 1 5 0 0 0 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 = [ 0 5 5 1] 0 1

Coordinates of (P1) is (0,5,-5).

Geometric Transformation (3-D) Three Dimensional Transformations

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Lecture Notes of Computer Graphics Prepared by Dr.Eng. Ziyad Tariq Al-Ta'i

A 3-D geometric transformations are extensions of the two dimensional transformations techniques as shown below:

1- 3-D Translation:
A 3-D object can be translated from one place to another by translating every point of the 3-D object to the new place as follows:
x =x+Tx , y =y+Ty , z =z+Tz

3-D Translation transformation can be represented in a uniform way by a 4 4 matrix as shown below:
1 0 0 0 1 0 z 1] 0 0 1 Tx Ty Tz 0 0 0 1

[x

z 1] = [ x

As shown in following figure: Y

T=(Tx,Ty,Tz) z x

2- 3-D Scaling:
A 3-D object can be scaled as follows:
x =xSx , y =ySy , z =zSz

Where Sx, Sy, and Sz are scaling factors. 3-D scaling transformation can be represented in a uniform way by a 4 4 matrix as shown below:
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[x

z 1] = [ x

Sx 0 0 0 0 Sy 0 0 z 1] 0 0 Sz 0 0 0 0 1

3- 3-D Rotation:
In order to rotate an object in 3-D world, the rotation axis and rotation angle must be specified firstly. Any of the three axes (x,y,z) may be the rotation axis. Rotation of a point (x,y,z) through a counterclockwise angle about the positive part of the axis, can be shown in following figures: y y y

x z

x z

x z

Rotation about z-axis:

Rotation transformation equations:
x =x cos + y sin , y = -x sin + y sin , z =z

Rotation transformation can be done using a 4 4 matrix::

[x

z 1] = [ x

cos sin z 1] 0 0

sin cos 0 0

0 0 1 0

0 0 0 1

Rotation about x-axis:

Rotation transformation equations:
y =y cos + z sin , z = -y sin + z cos , x =x

Rotation transformation can be done using a 4 4 matrix::

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[x

z 1] = [ x

0 1 0 cos z 1] 0 sin 0 0

0 sin cos 0

0 0 0 1

Rotation about y-axis:

Rotation transformation equations:
z =z cos + x sin , x = -z sin + x cos , y =y

Rotation transformation can be done using a 4 4 matrix::

[x

z 1] = [ x

cos 0 z 1] sin 0

0 sin 1 0 0 cos 0 0

0 0 0 1

H.W.:
Write complete (C or C++) program in order to perform all types of 3-D transformations on a cubic object (Use suitable vertices for the cubic object)?

Projections
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It is easy to see a group of points in 2-D world and convert them onto computer screen. This is can be done by putting these points in a viewport with clipping processing for enhancement. In 3-D world the subject is different. In order to see 3-D object, there are different views such as: top view, side view, or front view. In addition, 3-D object must be processed with projections techniques in order to see it as a flat object on a 2-D screen. There are two methods for projecting 3-D object on 2-D plane:

1- Parallel Projection:
Parallel projection represents the 3-D object relatively; therefore this type is used with quick drawing (draft drawing). Parallel projection can give different views fro the 3-D object from different sides as shown in figure below:

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Top view

Side view

Front view Note: parallel projection can not give a realistic representation for 3-D object.

Parallel Orthographic Projection

The simplest of the parallel projections is the orthographic projection, commonly used for engineering drawings. They accurately show correct size and shape of a single plane face of an object. Orthographic projections are projections onto one of the coordinate planes x=0, y=0, or z=0. The matrix for projection onto the z=0 plane is:

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1 0 [ Pz ] = 0 0

0 1 0 0

0 0 0 0

0 0 0 1

Similarly, the matrices for projection onto the x=0 and y=0 planes are:
0 0 [ Px] = 0 0 1 0 [ Py ] = 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 1

Orthographic projections of the object in figure below: y

Z x y

x y

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A single orthographic projection does not provide sufficient information to visually and practically reconstruct the shape of an object. Consequently, multiple orthographic projections are necessary.

2- Perspective Projection:
Perspective projection gives a realistic representation for 3D object, but without real dimensions values.

Center of Projection

Projection plane

In above figure, there are two equal length lines, but with different perspective projections. The closer line to the projection plane is the larger projection length. To calculate the perspective projection lengths, the following equations are used:

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d ) d+Z d Yp = Y ( ) d +Z Zp = 0 Xp = X (

Where x,y,and z: represent coordinates of a point in 3-D world P(x,y,z). Xp,Yp, and Zp: represent coordinates of a point in projection plane (Xp,Yp,0). d: the distance between 3-D coordinates of a point, and projection plane.

H.W.:
Find Perspective Projection of cubic object :((0,0,0), (5,0,0), (5,5,0), (0,5,0), (0,5,5), (0,0,5), (5,0,5), (5,5,5)). Note that d=5 units?

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