1. 2D Transformation

2. Transformation changes an object’s: – Position(Translation) – Size(Scaling) – Orientation(Rotation) – Shape(Deformation) Transformation is done by a sequence of matrix operations applied on vertices. 2D Transformation

3. Vector Representation If we define a 2D vector as: A transformation in general can be defined as:

4. Transformation: Translation Given a position ( x, y ) and an offset vector ( tx, ty ):

5. Transformation: Translation To translate the whole shape:

6. Transformation: Rotation Default rotation center: origin

7. Transformation: Rotation If We rotate around the origin, How to rotate a vector ( x, y ) by an angle of θ ? If we assume:

8. Transformation: Rotation Before RotationAfter Rotation

9. Transformation: Rotation To translate the whole shape:

10. Transformation: Scaling Change the object size by a factor of s : (2, 1) (-2, -1) s = 2 (4, 2) (-4, -2)

11. Transformation: Scaling But when the object is not center at origin (5, 3) (1, 1) s = 2 (10, 6) (2, 2) (3, 2) (6, 4)

12. Transformation: Scaling or Isotropic (uniform) scaling Anistropic (non-uniform) scaling

13. Summary Translation: Rotation Scaling

14. Summary Translation: Rotation Scaling We use the homogenous coordinate to make sure transformations have the same form.

15. Why use 3-by-3 matrices? Transformations now become the consistent. Represented by as matrix-vector multiplication. We can stack transformations using matrix multiplications.

16. Some math… Two vectors are orthogonal if:

17. A Quiz

18. Some math… A matrix is orthogonal if and only if:

19. Some math… A matrix M is orthogonal if and only if: Diagonal Matrix

20. Some math… A vector is normalized if:

21. Some math… A matrix is orthonormal if and only if: Ortho: Normalized:

22. Some math… A matrix M is orthonormal if and only if: Identity Matrix

23. Examples A 2D rotational matrix is orthonormal: Ortho: Normalized:

24. Examples Is a 2D scaling matrix orthonormal? (if sx, sy is not 1) Ortho: Normalized:

25. Summary TransformationExists?Ortho?Normalized? TranslationNoNA RotationYes ScalingYes No 2D Transformation (2-by-2 matrix) TransformationExists?Ortho?Normalized? TranslationYesNo RotationYes ScalingYes No 2D Transformation (3-by-3 matrix)

26. Transformation: Shearing y is unchanged. x is shifted according to y. or

27. Transformation: Shearing or

28. Facts about shearing Any 2D rotation matrix can be defined as the multiplication of three shearing matrices. Shearing doesn’t change the object area. Shearing can be defined as: rotation->scaling->rotation

29. In fact, Without translation, any 2D transformation matrix can be defined as: Rotation->Scaling->rotation Orthonormal Diagonal Orthonormal Singular Value Decomposition (SVD)

30. Another fact Same thing when using homogenous coordinates: Orthonormal Diagonal Orthonormal

31. Conclusion Translation, rotation, and scaling are three basic transformations. The combination of these can represent any transformation in 2D. That’s why OpenGL only defines these three.

32. Rotation Revisit Rotate about the originRotate about any center?

33. Arbitrary Rotation = Step 1: Translate ( -ox, -oy ) Step2: Rotate ( θ ) Step 1: Translate ( ox, oy ) (ox, oy)

34. Scaling Revisit (5, 3) (1, 1) (10, 6) (2, 2) (3, 2) (6, 4) (10, 6) (3, 2)

35. Arbitrary Scaling = Step 1: Translate ( -ox, -oy ) Step2: Scale( sx, sy ) Step 1: Translate ( ox, oy ) (ox, oy) ( ox, oy ) can be arbitrary too!

36. Rigid Transformation A rigid transformation is: Rotation and translation are rigid transformation. Any combination of them is also rigid. Orthonormal Matrix

37. Affine Transformation An affine transformation is: Rotation, scaling, translation are affine transformation. Any combination of them (e.g., shearing) is also affine. Any affine transformation can be decomposed into: Translation->Rotation->Scaling->Rotation (First)(Last)

38. We can also compose matrix Translation Scaling Rotation Translation M1M1 M2M2 M3M3 M4M4 v v’ v’ = (M 1 (M 2 ( M 3 (M 4 v)))) v’ = M v

39. Some Math Matrix multiplications are associative: Matrix multiplications are not commutative: Some exceptions are: Translation X Translation Scaling X Scaling Rotation X Rotation Uniform scaling X Rotation

40. For example Rotation and translation are not commutative: Orders are important!

41. How OpenGL handles transformation All OpenGL transformations are in 3D. We can ignore z-axis to do 2D transformation.

42. For example 3D Translation 2D Translation glTranslatef(tx, ty, tz) glTranslatef(tx, ty, 0)

43. For example 3D Rotation 2D Rotation glTranslatef(angle, axis_x, axis_y, axis_z) Z-axis (0, 0, 1) to toward you glTranslatef(angle, 0, 0, 1)

44. OpenGL uses two matrices: Projection Matrix ModelView Matrix Each object’s local coordinate Each object’s World coordinate Screen coordinate For example: gluOrtho2D(…)

45. How OpenGL handles transformation So you need to let OpenGL know which matrix to transform: You can reset the matrix as: glMatrixMode(GL_MODELVIEW); glLoadIdentity();

46. For Example Xcode time!