Fundamental of Computer Graphics Note ch5ch6 - LinearAlgebra and Transformation Matrices

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最新推荐文章于 2024-09-20 15:42:57 发布

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Matrices

identity matrix:
$\left[\begin{matrix} 1 & 0 & 0 & 0 \\ 0 &1 &0 &0 \\ 0&0&1&0\\0&0&0&1\end{matrix}\right]$
inverse matrix $A^{-1}$ of $A$ :
$AA^{-1} = I$
$AB)^{-1} = B ^{-1} A^{-1}$
transpose $A^T$ of $A$ : $a_{ij} = a'_{ji}$
$\left[\begin{matrix} 1 & 2 \\ 3 &4 \\ 5&6\end{matrix}\right]^T = \left[\begin{matrix} 1 &3&5\\2&4&6\end{matrix}\right]$
$AB)^T=B^TA^T$
$∣ A B ∣ = ∣ A ∣ ∣ B ∣$
$|A^{-1}| = \frac{1}{|A|}$
$A^T| = |A|$
a diagonal matrix: where all nonzero elements occur along the diagonal.
$\left[\begin{matrix} 8 & 0 & 0 \\ 0 &2 &0 \\ 0&0&9\end{matrix}\right]$
symmetric. matrix:
$\left[\begin{matrix} 1 & 1 & 2 \\ 1 &9 &7 \\ 2&7&1\end{matrix}\right]$
orthogonal matrix: for orthogonal $R$
Each of its columns considered as a vector has length 1 and the columns are orthogonal to one another.
$R^TR = I = RR^T$
$\left[\begin{matrix} 0 & 1 & 0 \\ 0 &0 &1 \\ 1&0&0\end{matrix}\right]$

TransformationMatrices

Scale

$scale(s_x, s_y) = \left[\begin{matrix}s_x & 0\\ 0 &s_y \end{matrix}\right]$
$\left[\begin{matrix}s_x & 0\\ 0 &s_y \end{matrix}\right] \left[\begin{matrix}s_x \\ s_y \end{matrix}\right] = \left[\begin{matrix}s_xx \\ s_yy \end{matrix}\right]$
scale

Shearing

$\left[\begin{matrix}1 & s\\ 0 &1 \end{matrix}\right] , shear-y(s) = \left[\begin{matrix}1 & 0\\ s &1 \end{matrix}\right]$
shear

Rotation

$rotate(\theta)=\left[\begin{matrix}\cos\theta & -\sin\theta \\ \sin\theta &\cos\theta \end{matrix}\right]$
rotation

Reflection

$\left[\begin{matrix}-1 & 0\\ 0 &1 \end{matrix}\right] , reflection-y(s) = \left[\begin{matrix}1 & 0\\ 0 &-1 \end{matrix}\right]$

Composition and Decomposition of Transformations

$first,v_2=Sv_1,then,v_3=Rv_2 => v_3 = R(Sv_1) => v_3 = (RS)v_1 , M = RS$
It is very important to remember that these transforms are applied from the right side first.
M = RS first applies S and then R

3D Linear Transformations

Scale 3D

$scale(s_x, s_y, s_z) = \left[\begin{matrix}s_x & 0 & 0\\ 0 &s_y & 0\\ 0 & 0 & s_z \end{matrix}\right]$

Shearing 3D

$shear-x(d_y,d_z) = \left[\begin{matrix}1 & d_y & d_z\\ 0 &1 &0 \\ 0&0&1\end{matrix}\right]$

Rotate 3D

$rotate-z(\theta)=\left[\begin{matrix}\cos\theta & -\sin\theta &0\\ \sin\theta &\cos\theta &0\\0&0&1 \end{matrix}\right]$
$rotate-x(\theta)=\left[\begin{matrix}1 & 0 &0 \\ 0 &\cos\theta & -\sin\theta\\0&\sin\theta &\cos\theta \end{matrix}\right]$
$rotate-y(\theta)=\left[\begin{matrix}\cos\theta & 0 &\sin\theta \\ 0 &1 &0 \\-sin\theta& 0&\cos\theta \end{matrix}\right]$