透视投影矩阵推导

前提条件：右手系坐标，目标将视锥体内的坐标压缩为x,y,z->[-1,1]
下面开始推导
第一步：把x,y方向上的点压缩，也即如下图所示的把视锥体压缩成长方体
P压缩后的点为$P^{\prime }(x^{\prime },y^{\prime },z^{\prime })$.则根据相似定律，$$\frac{y}{z}=\frac{y^{\prime }}{-n},\frac{x}{z}=\frac{x^{\prime }}{-n}$$
故有

$$y^{\prime }=-ny/z,x^{\prime }=-nx/z;$$
现在我们可以推导压缩矩阵${\mathbf{M}}_{\mathbf{t}}$,将x’,y’替换为x,y,z的表达式.

$$\left[\begin{array}{cccc}& & & \\ & & & \\ & & & \\ & & & \end{array}\right]\left[\begin{array}{c}x\\ y\\ z\\ 1\end{array}\right]=\left[\begin{array}{c}{x}^{\prime }\\ y^{\prime }\\ z^{\prime }\\ 1\end{array}\right]=\left[\begin{array}{c}-nx/z\\ -ny/z\\ z^{\prime }\\ 1\end{array}\right]$$
可以同乘z消除分子，接下来可以推出压缩矩阵的1,2,4行
$$\left[\begin{array}{cccc}& & & \\ & & & \\ & & & \\ & & & \end{array}\right]\left[\begin{array}{c}x\\ y\\ z\\ 1\end{array}\right]=\left[\begin{array}{c}nx\\ ny\\ ?\\ -z\end{array}\right]⟶\left[\begin{array}{cccc}n& 0& 0& 0\\ 0& n& 0& 0\\ & & & \\ 0& 0& -1& 0\end{array}\right]\left[\begin{array}{c}x\\ y\\ z\\ 1\end{array}\right]=\left[\begin{array}{c}nx\\ ny\\ ?\\ -z\end{array}\right]$$
接下来观察压缩后的长方体，可以发现(0,0,-n)和（0,0,-f）点压缩后坐标不变故有
$$\begin{gathered} \left[\begin{array}{c}0\\ 0\\ -n\\ 1\end{array}\right]\text{和}\left[\begin{array}{c}0\\ 0\\ -f\\ 1\end{array}\right] \\ \left[\begin{array}{cccc}n& 0& 0& 0\\ 0& n& 0& 0\\ 0& 0& A& B\\ 0& 0& -1& 0\end{array}\right]\left[\begin{array}{c}0\\ 0\\ -n\\ 1\end{array}\right]=\left[\begin{array}{c}0\\ 0\\ -An+B\\ n\end{array}\right]=\left[\begin{array}{c}0\\ 0\\ -nn\\ n\end{array}\right],n^2=An-B \\ \left[\begin{array}{cccc}n& 0& 0& 0\\ 0& n& 0& 0\\ 0& 0& A& B\\ 0& 0& -1& 0\end{array}\right]\left[\begin{array}{c}0\\ 0\\ -f\\ 1\end{array}\right]=\left[\begin{array}{c}0\\ 0\\ -Af+B\\ f\end{array}\right]=\left[\begin{array}{c}0\\ 0\\ -ff\\ f\end{array}\right],f^2=Af-B \\ \text{解得}A=n+f,B=nf, \end{gathered}$$
故此矩阵
$$\begin{gathered} \left[\begin{array}{cccc}n& 0& 0& 0\\ 0& n& 0& 0\\ 0& 0& n+f& nf\\ 0& 0& -1& 0\end{array}\right],\text{即为压缩矩阵，} \\ \text{接下来右乘平移矩阵把长方体中心移动到原点，再右乘缩放矩阵，将长方体变成2*2*2，} \\ \left[\begin{array}{cccc}\frac{2}{n\ast \tan \ast aspect}& 0& 0& 0\\ 0& \frac{2}{n\ast \tan }& 0& 0\\ 0& 0& \frac{2}{f-n}& 0\\ 0& 0& 0& 1\end{array}\right], \end{gathered}$$
$$\begin{gathered} \left[\begin{array}{cccc}\frac{1}{n\ast \tan \ast aspect}& 0& 0& 0\\ 0& \frac{1}{n\ast \tan }& 0& 0\\ 0& 0& \frac{2}{n-f}& 0\\ 0& 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& \frac{f+n}{2}\\ 0& 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}n& 0& 0& 0\\ 0& n& 0& 0\\ 0& 0& n+f& nf\\ 0& 0& -1& 0\end{array}\right] \\ =\left[\begin{array}{cccc}\frac{1}{n\ast \tan \ast aspect}& 0& 0& 0\\ 0& \frac{1}{n\ast \tan }& 0& 0\\ 0& 0& \frac{2}{n-f}& 0\\ 0& 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}n& 0& 0& 0\\ 0& n& 0& 0\\ 0& 0& \frac{f+n}{2}& nf\\ 0& 0& -1& 0\end{array}\right]=\left[\begin{array}{cccc}\frac{1}{\tan \ast aspect}& 0& 0& 0\\ 0& \frac{1}{\tan }& 0& 0\\ 0& 0& -\frac{f+n}{f-n}& -\frac{2nf}{f-n}\\ 0& 0& -1& 0\end{array}\right] \end{gathered}$$
这个最终的矩阵就是OpenGL的透视投影矩阵