1. Transformations With OpenGL Courtesy of Drs. Carol O’Sullivan / Yann Morvan Trinity College Dublin

2. Open GL Primitives

3. OpenGL To create a red polygon with 4 vertices: glBegin defines a geometric primitive: –GL_POINTS, GL_LINES, GL_LINE_LOOP, GL_TRIANGLES, GL_QUADS, GL_POLYGON … All vertices are 3D and defined using glVertex* glColor3f(1.0, 0.0, 0.0); glBegin(GL_POLYGON); glVertex3f(0.0, 0.0, 3.0); glVertex3f(1.0, 0.0, 3.0); glVertex3f(1.0, 1.0, 3.0); glVertex3f(0.0, 1.0, 3.0); glEnd();

4. OpenGL We can use per-vertex information. To create the RG colour square: glShadeModel(GL_SMOOTH); glBegin(GL_POLYGON); glColor3f(1.0, 0.0, 0.0); // Red glVertex3f(0.0, 0.0, 3.0); glColor3f(0.0, 0.0, 0.0); // Black glVertex3f(1.0, 0.0, 3.0); glColor3f(0.0, 1.0, 0.0); // Green glVertex3f(1.0, 1.0, 3.0); glColor3f(1.0, 1.0, 0.0); // Yellow glVertex3f(0.0, 1.0, 3.0); glEnd();

5. Homogeneous Co-ordinates Basis of the homogeneous co-ordinate system is the set of n basis vectors and the origin position: All points and vectors are therefore compactly represented using their ordinates:

6. Scale all vectors are scaled from the origin: Originalscale all axesscale Y axis offset from origindistance from origin also scales

7. Rotation Rotations are anti-clockwise about the origin: rotation of 45 o about the Z axis offset from origin rotation

8. Rotation original rotated

9. 2D rotation of  about origin: 3D homogeneous rotations: Note: If M -1 = M T then M is orthonormal. All orthonormal matrices are rotations about the origin. Rotation

10. Scale We would also like to scale points thus we need a homogeneous transformation for consistency:

11. Shear We shear along an axis according to another axis –Shearing along X axis preserves y and z values. –Shearing along Y axis preserves x and z values –Shearing along Z axis preserves x and y values Point are stretched along the shear axis in proportion to the distance of the point along another axis. Example: shearing along X according to Y

12. Shear originalshear along x (by y)shear along x (by z)

13. Translation Translation only applies to points, we never translate vectors. Remember: points have homogeneous co-ordinate w = 1 translate along y

14. Affine Transformations All affine transformations are combinations of rotations, scaling and translations. Shear = rotation followed by a scale: Affine transformations preserve –Collinearity –Ratios of distances along a line (therefore parallelism)

15. Transformation Composition More complex transformations can be created by concatenating or composing individual transformations together. Matrix multiplication is non-commutative  order is vital We can create an affine transformation representing rotation about a point P R : =translate to origin, rotate about origin, translate back to original location

16. Transformation Composition

17. Rotation in XY plane by q degrees anti-clockwise about point P

18. Euler Angles Euler angles represent the angles of rotation about the co-ordinate axes required to achieve a given orientation (  x,  y,  z ) The resulting matrix is: Any required rotation may be described (though not uniquely) as a composition of 3 rotations about the coordinate axes. Remember rotation does not commute  order is important A frequent requirement is to determine the matrix for rotation about an given axis. Such rotations have 3 degrees of freedom (DOF): –2 for spherical angles specifying axis orientation –1 for twist about the rotation axis

19. Rotational DOF Sometimes known as roll, pitch and yaw

20. Rotation about an axis

21. Assume axis is defined by points P and Q therefore pivot point is P and rotation axis vector is: First we translate the pivot point to the origin  T(-P) Now we determine a series of rotations to achieve the required rotation about the desired vector. This is conceptually simpler if we first rotate the axis and object so that the axis lines up with z say  R(  y )R(  x ) Now we rotate about z by the required angle   R(  )

22. Rotation about an axis Then we undo the first 2 rotations to bring us back to the original orientation  R(-  x )R(-  y ) Finally we translate back to the original position  T(P) The final rotation matrix is: We need to determine Euler angles  x and  y which will orient the rotation axis along the z axis. We determine these using simple trigonometry.

23. Aligning axis with z xx yy vxvx vzvz yy vyvy vzvz vxvx x z y vpvp r vzvz vxvx yy

24. Note that as shown the rotation about the x axis is anti- clockwise but the y axis rotation is clockwise. Therefore the required y axis rotation is -  y 

25. Spherical Co-ordinates The set of all normal vectors define a unit sphere which is usually used to encode the set of all directions. Each normal vector now has only 2 degrees of freedom usually denoted using spherical co-ordinates (angles) = ( ,  )

26. Normal Vectors It is frequently useful to determine the relationship between the spherical co-ordinate and the vector:

27. Transformations and OpenGL ® glRotatef(angle, vx, vy, vz) –rotates about axis ( vx, vy, vz ) by angle (specified in degrees) glTranslate(dx, dy, dz) –translates by displacement vector ( dx, dy, dz ) glScalef(sx, sy, sz) –apply scaling of sx in x direction, sy in y direction and sz in z direction (note that these values specify the diagonal of a required matrix) glLoadIdentity() –creates an identity matrix (used for clearing all transformations) glLoadMatrixf(matrixptr) –loads a user specified transformation matrix where matrixptr is defined as GLfloat matrixptr[16];

28. Transformations and OpenGL ® OpenGL defines 3 matrices for manipulation of 3D scenes: –GL_MODELVIEW : manipulates the view and models simultaneously –GL_PROJECTION : performs 3D 2D projection for display –GL_TEXTURE : for manipulating textures prior to mapping on objects Each acts as a state parameter; once set it remains until altered. Having defined a GL_MODELVIEW matrix, all subsequent vertices are created with the specified transformation. Matrix transformation operations apply to the currently selected system matrix: –use glMatrixMode(GL_MODELVIEW) to select modeling matrix

29. Transformations and OpenGL ® MODELVIEW matrix PROJECTION matrix perspective division viewport transformation Vertex Geometry Pipeline original vertex vertex in the eye coordinate space 2d projection of vertex onto viewing plane normalised device coordinates (foreshortened) final window coordinates

30. Transformations and OpenGL ® The MODELVIEW matrix is a 4x4 affine transformation matrix and therefore has 12 degrees of freedom: The MODELVIEW matrix is used for both the model and the camera transformation –rotating the model is equivalent to rotating the camera in the opposite direction  OpenGL uses the same transformation matrix –this sometimes causes confusion!

31. Transformations and OpenGL ® Each time an OpenGL transformation M is called the current MODELVIEW matrix C is altered: glTranslatef(1.5, 0.0, 0.0); glRotatef(45.0, 0.0, 0.0, 1.0);

32. Transformations and OpenGL ® Transformations are applied in the order specified (with respect to the vertex) which appears to be in reverse: glMatrixMode(GL_MODELVIEW); glLoadIdentity(); glTranslatef(1.5, 0.0, 0.0); glRotatef(45.0, 0.0, 0.0, 1.0); glVertex3f(1.0, 0.0, 0.0); originalrotatetranslate

33. Camera & Model Transformations Given that camera and model transformations are specified using a single matrix we must consider the effect of these transformations on the coordinate frames of the camera and models. Assume we wish to orbit an object at a fixed orientation: –translate object away from camera –rotate around X to look at top of object –then pivot around object’s Y in order to orbit properly.

34. Camera & Model Transformations If the GL_MODELVIEW matrix is an identity matrix then the camera frame and the model frame are the same. –i.e. they are specified using the same co-ordinate system If we issue command glTranslatef(0.0, 0.0, -10.0) and then create the model: –a vertex at [0, 0, 0] in the model will be at [0, 0, -10] in the camera frame –i.e. we have moved the object away from the camera This may be viewed conceptually in 2 ways: –we have positioned the object with respect to the world frame –we have moved the world-frame with respect to the camera frame

35. Camera & Model Transformations translate rotate object’s new Y

36. Camera & Model Transformations A “local frame view” is usually adopted as it extends naturally to the specification of hierarchical model frames. This allows creation of jointed assemblies –articulated figures (animals, robots etc.) In the hierarchical model, each sub-component has its own local frame. Changes made to the parent frame are propagated down to the child frames (thus all models in a branch are globally controlled by the parent). This simplifies the specification of animation.

37. Aside: Display Lists It is often expensive to compute or create a model for display. we would prefer not to have to recalculate it each time for each new animation frame. Display lists allow the creation of an object in memory, where it resides until destroyed. Objects are drawn by issuing a request to the server to display a given display list. list = glGenLists(1); glNewList(list, GL_COMPILE); create_model(); glEndList(); glCallList(list); glDeleteLists(list, 1); number of list IDs to create GLint of first list ID user specified model code used later to display the list begin specification of the list delete when finished (specifying number of lists)

38. Model Transformations As the MODELVIEW matrix is changed objects are created with respect to a changing transformation. This is often termed the current transformation matrix or CTM. The CTM behaves like a 3D pointer, selecting new positions and orientations for the creation of geometries. The only complication with this view is that each new CTM is derived from a previous CTM, i.e. all CTMs are specified relative to previous versions. A scaling transformation can cause some confusion.

39. Scaling Transformation and the CTM glMatrixMode(GL_MODELVIEW); glLoadIdentity(); glTranslatef(3, 0, 0); glTranslatef(1, 0, 0); gluCylinder(…); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); glTranslatef(3, 0, 0); glScalef(0.5, 0.5, 0.5); glTranslatef(1, 0, 0); gluCylinder(…);

40. Hierarchical Transformations For geometries with an implicit hierarchy we wish to associate local frames with sub-objects in the assembly. Parent-child frames are related via a transformation. Transformation linkage is described by a tree: Each node has its own local co- ordinate system.

41. Hierarchical Transformations Hierarchical transformation allow independent control over sub-parts of an assembly R R R T

42. translate base rotate joint1 rotate joint2 complex hierarchical transformation

43. OpenGL ® Implementation glMatrixMode(GL_MODELVIEW); glLoadIdentity(); glTranslatef(bx, by, bz); create_base(); glTranslatef(0, j1y, 0); glRotatef(joint1_orientation); create_joint1(); glTranslatef(0, uay, 0); create_upperarm(); glTranslatef(0, j2y); glRotatef(joint2_orientation); create_joint2(); glTranslatef(0, lay, 0); create_lowerarm(); glTranslatef(0, py, 0); glRotatef(pointer_orientation); create_pointer();

44. Hierarchical Transformations The previous example had simple one-to-one parent-child linkages. In general there may be many child frames derived from a single parent frame. we need some mechanism to remember the parent frame and return to it when creating new children. OpenGL provide a matrix stack for just this purpose: –glPushMatrix() saves the CTM –glPopMatrix() returns to the last saved CTM

45. Hierarchical Transformations Each finger is a child of the parent (wrist)  independent control over the orientation of the fingers relative to the wrist

46. Hierarchical Transformations

47. glMatrixMode(GL_MODELVIEW); glLoadIdentity(); glTranslatef(bx, by, bz); create_base(); glTranslatef(0, jy, 0); glRotatef(joint1_orientation); create_joint1(); glTranslatef(0, ay, 0); create_upperarm(); glTranslatef(0, wy); glRotatef(wrist_orientation); create_wrist(); glPushMatrix(); glPushMatrix(); // save frame glTranslatef(-xf, fy0, 0); glRotatef(lowerfinger1_orientation); glTranslatef(0, fy1, 0); create_lowerfinger1(); glTranslatef(0, fy2, 0); glRotatef(upperfinger1_orientation); create_fingerjoint1(); glTranslatef(0, fy3, 0); create_upperfinger1(); glPopMatrix(); glPopMatrix(); // restore frameglPushMatrix(); // do finger 2...glPopMatrix();glPushMatrix(); // do finger 3...glPopMatrix(); Finger1

48. GLU provides functionality for the creation of quadric surfaces –spheres, cones, cylinders, disks A quadric surface is defined by the following implicit equation: OpenGL ® Objects: GLU GLUquadricObj* gluNewQuadric(void); gluDeleteQuadric(GLYquadricObj *obj); use to initialise a quadric delete when finished

49. OpenGL ® Objects: GLU Spheres void gluSphere(GLUquadricObj *obj, double radius, int slices, int stacks); gluSphere(obj, 1.0, 5, 5); gluSphere(obj, 1.0, 10, 10); gluSphere(obj, 1.0, 20, 20);

50. Other GLU Quadrics void gluCylinder(GLUquadricObj *obj, double base_radius, double top_radius, double height, int slices, int stacks); gluCylinder(obj, 1.0, 1.0, 2.0, 20, 8); gluCylinder(obj, 1.0, 1.0, 2.0, 8, 8); gluCylinder(obj, 1.0, 0.3, 2.0, 20, 8);

51. Other GLU Quadrics void gluDisk(GLUquadricObj *obj, double inner_radius, double outer_radius, int slices, int rings); gluCylinder(obj, 1.0, 0.0, 2.0, 20, 8); gluDisk(obj, 0.0, 2.0, 10, 3); gluDisk(obj, 0.5, 2.0, 10, 3);

52. OpenGL ® Objects: GLUT glutWireTeapot(1.0) glutSolidTeapot(1.0) size glutSolidDodecahedron() void glutSolidTorus(double inner_radius, double outer_radius, int nsides, int rings); glutWireTorus(0.3, 1.5, 20, 20); glutSolidTorus(0.3, 1.5, 20, 20);