CS 352: Computer Graphics Chapter 4: Geometric Objects and Transformations.

CS 352: Computer Graphics

Chapter 4:

Geometric Objects and

Transformations

Sensational Solar System Simulator

Interactive Computer GraphicsChapter 4 - 2

http://cs.calvin.edu/curriculum/cs/352/files/solar/solar.html


Perspective How is it that mathematics can model

the (ideal) world so well?


Overview Scalars and Vectors Coordinates and frames Homogeneous coordinates Rotation, translation, and scaling Concatenating transformations Transformations in Canvas Projections A virtual trackball


Background: linear algebra Quick review of important concepts Point: location (x, y) or (x, y, z) Vector: direction and magnitude

<x, y, z>


Vectors Magnitude of a vector: |v| Direction of a vector, unit vector: v Affine sum:

P = (1-a) Q + a R

^


Dot Product Def: u • v = ux vx + uy vy+ uz vz

u • v = |u| |v| cos θ Uses:

Angle between two vectors? Are two vectors perpendicular? Do two vectors form

acute or obtuse angle?

Is a face visible?(backface culling)


Cross Product u v = <uyvz - uzvy, uzvx - uxvz, uxvy -

uyvx> Direction: normal to plane containing u,

v (using right-hand rule in right-handed coordinate system)

Magnitude: |u||v| sin θ Uses:

Angle between vectors? Face outward normal?


Face outward normals Why might I need face normals? How to find the outward normal of a

face? Assume that vertices are listed in a

standard order when viewed from the outside -- counter-clockwise

Cross product of the first two edges is outward normal vector

Note that first corner must be convex


Ouch! How can I tell if I have run into a wall? Walls, motion segments, intersection

tests How to tell if two line segments (p1, p2)

and (p3, p4) intersect? Looking from p1 to p2, check that p3 and

p4 are on opposite sides Looking from p3 to p4, check that p1 and

p2 are on opposite sides

How do you get the earth to go around the sun?

How do you get the moon to do that fancy motion?


Sensational Solar System Simulator




Coordinate systems and frames A graphics program uses many

coordinate systems, e.g. model, world, screen

Frame: origin + basis vectors (axes)

Need to transform between frames


Transformations Changes in coordinate systems usually

involve Translation Rotation Scale

3-D Rotation and scale can be represented as 3x3 matrices, but not translation

We're also interested in a 3-D to 2-D projection

We use 3-D "homogeneous coordinates" with four components per point

For 2-D, can use homogeneous coords with three components

https://cvs.khronos.org/svn/repos/registry/trunk/public/webgl/sdk/demos/webkit/MatrixTest.html


Homogeneous Coordinates A point: (x, y, z, w) where w is a "scale

factor" Converting a 3D point to homogeneous

coordinates: (x, y, z) (x, y, z, 1) Transforming back to 3-space: divide by w

(x, y, z, w) (x/w, y/w, z/w) (3, 2, 1): same as

(3, 2, 1, 1) = (6, 4, 2, 2) = (1.5, 1, 0.5, 0.5) Where is the point (3, 2, 1, 0)?

Point at infinity or "pure direction." Used for vectors (vs. points)


Homogeneous transformations Most important reason for using

homogeneous coordinates: All affine transformations (line-preserving:

translation, rotation, scale, perspective, skew) can be represented as a matrix multiplication

You can concatenate several such transformations by multiplying the matrices together. Just as fast as a single transform!

Modern graphics cards implement homogeneous transformations in hardware (or used to)


Translation


Scaling

Note that the scaling fixed point is the origin


Rotation General rotation: about an

axis v by angle u with fixed point p

With origin as fixed point, about x, y, or z-axis:

1000

0cossin0

0sincos0

0001

1000

0cos0sin

0010

0sin0cos

1000

0100

00cossin

00sincos


Rotating about another point How can I rotate around another fixed

point, e.g. [1, 2, 3]? Translate [1, 2, 3] -> 0, 0, 0 (T) Rotate (R) Translate back (T-1) T-1 R T P = P'


Rotating about another axis How can I rotate about an arbitrary axis?

Can combine rotationsabout z, y, and x:Rx Ry Rz P = P'

Note that ordermatters and anglescan be hard to find

Concatenating transformations Many transformations can be

concatenated into one matrix for efficiency

Canvas: transformations concatenate

Set the transformation to the identity to reset

Or, push/pop matrices (save/restore state)




Example: Orbiting the Sun How to make the earth move 5

degrees? Set appropriate modeling matrix before drawing

image Rotate 5 degrees, then translate What Canvas code to use?

How to animate a continuous rotation? Every few ms, modify modeling matrix and redisplay Reset to original and concatenate rotation and

translation

How to make it spin on its own axis too?

rotate, translate, rotate, draw


Earth & Moonsolar.cx.save();solar.cx.rotate(timefrac/365); // earth around the sunsolar.cx.translate(250,0);solar.cx.save();solar.cx.rotate(timefrac);solar.cx.drawImage(earth, -earth.width/2, –earth.height/2);

solar.cx.restore();

solar.cx.save(); // moon around earthsolar.cx.rotate(timefrac/28);solar.cx.translate(56, 0);solar.cx.drawImage(moon, -moon.width/2, -moon.height/2);solar.cx.restore();

Moon River, wider than a mile… How to make the moon follow that

crazy path? Try it…


http://cs.calvin.edu/curriculum/cs/352/files/solar/v1/solar.html



Write a program to animate something that has moving parts that have moving parts

Use both translation and rotation It should save/restore state

Examples: Walking robot Person pedaling a unicycle Person waving in a moving convertible Spirograph

Interactive Computer GraphicsChapter 4 - 25Project 4:

Wonderfully Wiggly Working Widget



Accelerometer events Many browsers now support the

DeviceOrientation API (W3C draft) [demo]

window.ondevicemotion = function(event) { var accelerationX = event.accelerationIncludingGravity.x var accelerationY = event.accelerationIncludingGravity.y var accelerationZ = event.accelerationIncludingGravity.z}


http://dev.w3.org/geo/api/spec-source-orientation.html

http://www.albertosarullo.com/blog/javascript-accelerometer-demo-source


3D: Polgyons and stuff


https://www.khronos.org/registry/webgl/sdk/demos/google/shiny-teapot/

How to display a complex object? You don't want to put all those teapot

triangles in your source code…



http://cs.calvin.edu/curriculum/cs/352/files/trackball/trackball.html


A JSON object format Object description with vertex positions and

faces{ "vertices" : [

40,40,40, 60,0,60, 20,0,60, 40,0,20],

"indices" : [0,1,2, 0,2,3, 0,3,1, 1,3,2]

} ________________________________

x = data.vertices[0];

Loading an object via AJAX What do you think of this code?

trackball.load = function() { var objectURL = $('#object1').val(); $.getJSON(objectURL, function(data) { trackball.loadObject(data); }); trackball.display();}

Remember the first 'A' in AJAX! Wait for the object to load before displaying it

$.getJSON(objectURL, function(data) { trackball.loadObject(data); trackball.display(); });



Question How to move object into the sphere

centered at the origin with radius 1?




Point normalization Find min and max values of X, Y, Z Find center point, Xc, Yc, Zc Translate center to origin (T) Scale (S) P' = S T P Modeling matrix M = S T

Note apparent reversed order of matrices

Question How to draw a 3-D object on a 2-D

screen?




Orthographic projection Zeroing the z coordinate with a matrix

multiplication is easy…

Or, just ignore the Z value when drawing

11000

0000

0010

0001

1

0 z

y

x

y

x


Perspective projection Can also be done with a single matrix multiply

using homogeneous coordinates Uses the divide-by-w step We'll see in next chapter


Transformations in the Pipeline

Three coordinate frames: World coordinates (e.g. unit cube) Eye (projection) coordinates (from

viewpoint) Window coordinates (after projection)

Two transformations convert between them Modeling xform * world coords -> eye

coords Projection xform * eye coords -> window

coords


Transformations in Canvas

Maintain separate 3-D model and project matrices

Multiply vertices by these matrices before drawing polygons

Vertices are transformed as they flow through the pipeline


Transformations 2 If p is a vertex, pipeline produces Cp

(post-multiplication only) Can concatenate transforms in CTM:

C IC T(4, 5, 6)C R(45, 1, 2, 3)C T(-4, -5, -6)[C = T-1 S T]

Note that last transform defined is first applied


Putting it all together Load vertices and faces of object.

Normalize: put them in (-1, 1, -1, 1, -1, 1) cube

Put primitives into a display list Set up viewing transform to display that

cube Set modeling transform to identity To spin the object, every 1/60 second

do: Add 5 degrees to current rotation amount Set up modeling transform to rotate by

current amount


Virtual Trackball Imagine a trackball embedded in the

screen If I click on the screen, what point on

the trackball am I touching?


Trackball Rotation Axis If I move the mouse from p1 to p2, what

rotation does that correspond to?


Virtual Trackball Rotations Rotation about the axis n = p1 x p2

Fixed point: if you use the [-1, 1] cube, it is the origin

Angle of rotation: use cross product|u v| = |u||v| sin θ(or use Sylvester's built-in function)

n = p1.cross(p2); theta = p1.angleFrom(p2); modelMat = oldModelMat.multiply(1); // restore old

matrix modelMat = Matrix.Rotation(theta,n).multiply(modelMat);


Hidden surface removal What's wrong with this picture?

How can weprevent hiddensurfaces frombeing displayed?


Hidden surface removal How can we prevent hidden surfaces

from being displayed? Painter's algorithm:

paint from back to front. How can we do this

by computer, whenpolygons come in arbitrary order?

Poor-man's HSR Transform points for current viewpoint Sort back to front by the face's average

Z Does this always work?




HSR Example Which polygon should be drawn first?

We'll study other algorithms later

A better HSR algorithm Depth buffer algorithm




Data structures needed An array of vertices, oldVertices An array of normalized vertices,

vertices[n][3], in the [-1, 1] cube An array for vertices in world

coordinates An array of faces containing vertex

indexes, int faces[n][max_sides]. Use faces[n][0] to store the number of sides. Set max_sides to 12 or so.


Virtual Trackball Program Stage 1

Read in, normalize object Display with rotation, HSR

Stage 2 Virtual trackball rotations Perspective Lighting/shading

CS 352: Computer Graphics Chapter 4: Geometric Objects and Transformations.

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