【图形学】三维几何变换理论和实现

和二维几何变换一样，三维几何变换也要引入齐次坐标。点(x,y,z)的规范化齐次坐标为(x,y,z,1)。那么三维变换矩阵就是一个4*4的方阵。
$T=\left(\begin{array}{cccc}a& b& c& l\\ d& e& f& m\\ g& h& i& n\\ p& q& r& s\end{array}\right)$
这个矩阵可以分为如下4个子矩阵
$T_0=\left(\begin{array}{ccc}a& b& c\\ d& e& f\\ g& h& i\end{array}\right)T_1=\left(\begin{array}{c}l\\ m\\ n\end{array}\right)T_2=\left(\begin{array}{ccc}p& q& r\end{array}\right)T_3=\left(\begin{array}{c}s\end{array}\right)$
其中$T_0$进行比例、旋转、对称、错切变换$T_1$进行平移变换,$T_2$进行投影变换，$T_3$对物体进行整体的比例变换。

平移变换

$\{\begin{array}{l}{x}^{\prime }=x+T_x\\ y^{\prime }=y+T_y\\ z^{\prime }=z+T_z\end{array}(T_x,T_y,T_z是平移系数)$
设三维平移变换矩阵为T
$\left(\begin{array}{c}{x}^{\prime }\\ y^{\prime }\\ z^{\prime }\\ 1\end{array}\right)=\left(\begin{array}{c}x+T_x\\ y+T_y\\ z_{+}{T}_z\\ 1\end{array}\right)=T\left(\begin{array}{c}x\\ y\\ z\\ 1\end{array}\right)得到T=\left(\begin{array}{cccc}1& 0& 0& T_x\\ 0& 1& 0& T_y\\ 0& 0& 0& T_z\\ 0& 0& 0& 1\end{array}\right)$

比例变换

$P(x,y,z)相对于原点，沿x轴方向缩放S_x倍，沿Y轴方向缩放S_y倍,沿z轴方向缩放S_z倍到点P_{\prime }(x^{\prime },y^{\prime },z^{\prime })$
设三维变换矩阵为T
$\left(\begin{array}{c}{x}^{\prime }\\ y^{\prime }\\ z^{\prime }\\ 1\end{array}\right)=\left(\begin{array}{c}x{T}_x\\ y{T}_y\\ z{T}_z\\ 1\end{array}\right)=T\left(\begin{array}{c}x\\ y\\ z\\ 1\end{array}\right)得到T=\left(\begin{array}{cccc}{T}_x& 0& 0& 0\\ 0& T_y& 0& 0\\ 0& 0& T_z& 0\\ 0& 0& 0& 1\end{array}\right)$

更一般的情况，$P相对于点(p_x,p_y,p_z)进行比例变换到P^{\prime }$。有$\{\begin{array}{l}{x}^{\prime }=S_x(x-p_x)+p_x\\ y^{\prime }=S_y(y-p_y)+p_y\\ z^{\prime }=S_z(z-p_z)+p_z\end{array}$
此时的三维变换矩阵T为$T=\left(\begin{array}{cccc}{S}_x& 0& 0& p_x(1-S_x)\\ 0& S_y& 0& p_y(1-S_y)\\ 0& 0& S_z& p_z(1-S_z)\\ 0& 0& 0& 1\end{array}\right)$

旋转变换

对点（x,y,z）相对于原点(0,0,0)进行旋转操作，采用右手坐标系，即大拇指指向旋转轴的正方向，四指的转向为转角的正方向。旋转我们可分为绕x轴、y轴、z轴旋转。假设绕x轴旋转角度为$\alpha$,绕y轴旋转角度为$\beta$,绕z轴旋转的角度为$\gamma$。则相应的变换如下：

绕x轴旋转

$$\begin{gathered} \{\begin{array}{l}{x}^{\prime }=x\\ y^{\prime }=y\cos \alpha -z\sin \alpha \\ z^{\prime }=y\sin \alpha +z\cos \alpha \end{array} \\ 三维旋转矩阵T=\left(\begin{array}{cccc}1& 0& 0& 0\\ 0& \cos \alpha & -\sin \alpha & 0\\ 0& \sin \alpha & \cos \alpha & 0\\ 0& 0& 0& 1\end{array}\right) \end{gathered}$$

绕Y轴旋转

$$\begin{gathered} \{\begin{array}{l}{x}^{\prime }=x\cos \beta +z\sin \beta \\ y^{\prime }=y\\ z^{\prime }=-x\sin \beta +z\cos \beta \end{array} \\ 三维旋转矩阵T=\left(\begin{array}{cccc}\cos \beta & 0& \sin \beta & 0\\ 0& 1& 0& 0\\ -\sin \beta & 0& \cos \beta & 0\\ 0& 0& 0& 1\end{array}\right) \end{gathered}$$

绕Z轴旋转

$$\begin{gathered} \{\begin{array}{l}{x}^{\prime }=x\cos \gamma -y\sin \gamma \\ y^{\prime }=y\sin \gamma +z\cos \gamma \\ z^{\prime }=z\end{array} \\ 三维旋转矩阵T=\left(\begin{array}{cccc}\cos \gamma & -\sin \gamma & 0& 0\\ \sin \gamma & \cos \gamma & 0& 0\\ 0& 0& 0& 0\\ 0& 0& 0& 1\end{array}\right) \end{gathered}$$

对称变换

• 关于x轴对称
  三维变换矩阵T
  $T=\left(\begin{array}{cccc}1& 0& 0& 0\\ 0& -1& 0& 0\\ 0& 0& -1& 0\\ 0& 0& 0& 1\end{array}\right)$
• 关于y轴对称，三维变换矩阵T
  $T=\left(\begin{array}{cccc}-1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& -1& 0\\ 0& 0& 0& 1\end{array}\right)$
• 关于z轴对称，三维变换矩阵T
  $T=\left(\begin{array}{cccc}-1& 0& 0& 0\\ 0& -1& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right)$
• 关于xOy面对称
  三维变换矩阵T
  $T=\left(\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& -1& 0\\ 0& 0& 0& 1\end{array}\right)$
• 关于yOz面对称
  三维变换矩阵T
  $T=\left(\begin{array}{cccc}-1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right)$
• 关于zOx面对称
  三维变换矩阵T
  $T=\left(\begin{array}{cccc}1& 0& 0& 0\\ 0& -1& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right)$

错切变换

沿xy平面错切(z不变)
$\{\begin{array}{l}{x}^{\prime }=x+{\lambda }_{x}z\\ y^{\prime }={\lambda }_{y}z+y\end{array}$
三维变换矩阵T为$T=\left(\begin{array}{cccc}1& 0& {\lambda }_x& 0\\ 0& 1& {\lambda }_y& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right)$
沿xz平面错切(y不变)
$\{\begin{array}{l}{x}^{\prime }=x+{\lambda }_{x}y\\ z^{\prime }={\lambda }_{y}y+z\end{array}$
三维变换矩阵T为$T=\left(\begin{array}{cccc}1& {\lambda }_x& 0& 0\\ 0& 1& 0& 0\\ 0& {\lambda }_z& 1& 0\\ 0& 0& 0& 1\end{array}\right)$
沿yz平面错切(x不变)
$\{\begin{array}{l}{y}^{\prime }=y+{\lambda }_{x}x\\ z^{\prime }={\lambda }_{y}x+z\end{array}$
三维变换矩阵T为$T=\left(\begin{array}{cccc}1& 0& 0& 0\\ {\lambda }_y& 1& 0& 0\\ {\lambda }_z& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right)$

代码实现

class CTransform3
{
public:
	CTransform3();
	virtual ~CTransform3();
	void Identity();//单位矩阵初始化
	void SetMatrix(CPoint3* P, int ptNumber);//三维顶点数组初始化
	void Translate(double tx, double ty, double tz);//平移变换
	void Scale(double sx, double sy, double sz);//比例变换
	void Scale(double sx, double sy, double sz, CPoint3 p);//相对于任意点的比例变换
	void RotateX(double alpha);//绕X轴旋转变换
	void RotateY(double beta);//绕Y轴旋转变换
	void RotateZ(double gamma);//绕Z轴旋转变换	
	void RotateX(double alpha, CPoint3 p);//相对于任意点的绕X轴旋转变换
	void RotateY(double beta, CPoint3 p);//相对于任意点的绕Y轴旋转变换
	void RotateZ(double gamma, CPoint3 p);//相对于任意点的绕Z轴旋转变换
	void ReflectX();//关于X轴反射变换
	void ReflectY();//关于Y轴反射变换
	void ReflectZ();//关于Z轴反射变换
	void ReflectXOY();//关于XOY面反射变换
	void ReflectYOZ();//关于YOZ面反射变换
	void ReflectZOX();//关于ZOX面反射变换
	void ShearXY(double a, double b);//沿XY平面错切变换
	void ShearYZ(double a, double b);//沿YZ平面错切变换
	void ShearXZ(double a, double b);//沿XZ平面错切变换
	void MultiplyMatrix();//矩阵相乘
private:
	double	m_matrix[4][4];//三维变换矩阵	
	CPoint3* m_p;//三维顶点数组名
	int	m_pNum;//三维顶点个数
};
#define PI 3.1415926//圆周率

CTransform3::CTransform3(void)
{

}

CTransform3::~CTransform3(void)
{

}

void CTransform3::Identity(void)//单位矩阵初始化
{
	m_matrix[0][0] = 1.0; m_matrix[0][1] = 0.0; m_matrix[0][2] = 0.0; m_matrix[0][3] = 0.0;
	m_matrix[1][0] = 0.0; m_matrix[1][1] = 1.0; m_matrix[1][2] = 0.0; m_matrix[1][3] = 0.0;
	m_matrix[2][0] = 0.0; m_matrix[2][1] = 0.0; m_matrix[2][2] = 1.0; m_matrix[2][3] = 0.0;
	m_matrix[3][0] = 0.0; m_matrix[3][1] = 0.0; m_matrix[3][2] = 0.0; m_matrix[3][3] = 1.0;
}

void CTransform3::SetMatrix(CPoint3* P, int ptNumber)//顶点数组初始化
{
	this->m_p = P;
	this->m_pNum = ptNumber;
}

void CTransform3::Translate(double tx, double ty, double tz)//平移变换
{
	Identity();
	m_matrix[0][3] = tx;
	m_matrix[1][3] = ty;
	m_matrix[2][3] = tz;
	MultiplyMatrix();
}

void CTransform3::Scale(double sx, double sy, double sz)//比例变换
{
	Identity();
	m_matrix[0][0] = sx;
	m_matrix[1][1] = sy;
	m_matrix[2][2] = sz;
	MultiplyMatrix();
}

void CTransform3::Scale(double sx, double sy, double sz, CPoint3 p)//相对于任意点的比例变换
{
	Translate(-p.m_x, -p.m_y, -p.m_z);
	Scale(sx, sy, sz);
	Translate(p.m_x, p.m_y, p.m_z);
}
void CTransform3::RotateX(double beta)//绕X轴旋转变换
{
	Identity();
	double rad = beta * PI / 180;
	m_matrix[1][1] = cos(rad); m_matrix[1][2] = -sin(rad);
	m_matrix[2][1] = sin(rad); m_matrix[2][2] = cos(rad);
	MultiplyMatrix();
}

void CTransform3::RotateY(double beta)//绕Y轴旋转变换
{
	Identity();
	double rad = beta * PI / 180;
	m_matrix[0][0] = cos(rad); m_matrix[0][2] = sin(rad);
	m_matrix[2][0] = -sin(rad); m_matrix[2][2] = cos(rad);
	MultiplyMatrix();
}

void CTransform3::RotateZ(double beta)//绕Z轴旋转变换
{
	Identity();
	double rad = beta * PI / 180;
	m_matrix[0][0] = cos(rad); m_matrix[0][1] = -sin(rad);
	m_matrix[1][0] = sin(rad); m_matrix[1][1] = cos(rad);
	MultiplyMatrix();
}

void CTransform3::RotateX(double beta, CPoint3 p)//相对于任意点的X轴旋转变换
{
	Translate(-p.m_x, -p.m_y, -p.m_z);
	RotateX(beta);
	Translate(p.m_x, p.m_y, p.m_z);
}

void CTransform3::RotateY(double beta, CPoint3 p)//相对于任意点的Y轴旋转变换
{
	Translate(-p.m_x, -p.m_y, -p.m_z);
	RotateY(beta);
	Translate(p.m_x, p.m_y, p.m_z);
}

void CTransform3::RotateZ(double beta, CPoint3 p)//相对于任意点的Z轴旋转变换
{
	Translate(-p.m_x, -p.m_y, -p.m_z);
	RotateZ(beta);
	Translate(p.m_x, p.m_y, p.m_z);
}

void CTransform3::ReflectX(void)//X轴反射变换
{
	Identity();
	m_matrix[1][1] = -1;
	m_matrix[2][2] = -1;
	MultiplyMatrix();
}

void CTransform3::ReflectY(void)//Y轴反射变换
{
	Identity();
	m_matrix[0][0] = -1;
	m_matrix[2][2] = -1;
	MultiplyMatrix();
}

void CTransform3::ReflectZ(void)//Z轴反射变换
{
	Identity();
	m_matrix[0][0] = -1;
	m_matrix[1][1] = -1;
	MultiplyMatrix();
}

void CTransform3::ReflectXOY(void)//XOY面反射变换
{
	Identity();
	m_matrix[2][2] = -1;
	MultiplyMatrix();
}

void CTransform3::ReflectYOZ(void)//YOZ面反射变换
{
	Identity();
	m_matrix[0][0] = -1;
	MultiplyMatrix();
}

void CTransform3::ReflectZOX(void)//XOZ面反射变换
{
	Identity();
	m_matrix[1][1] = -1;
	MultiplyMatrix();
}

void CTransform3::ShearXY(double a, double b)
{
	Identity();
	m_matrix[0][2] = a;
	m_matrix[0][2] = b;
	MultiplyMatrix();
}

void CTransform3::ShearYZ(double a, double b)
{
	Identity();
	m_matrix[0][1] = a;
	m_matrix[2][1] = b;
	MultiplyMatrix();
}

void CTransform3::ShearXZ(double a, double b)
{
	Identity();
	m_matrix[1][0] = a;
	m_matrix[2][0] = b;
	MultiplyMatrix();
}



void CTransform3::MultiplyMatrix(void)//矩阵相乘
{
	CPoint3* PTemp = new CPoint3[m_pNum];
	for (int i = 0; i < m_pNum; i++)
		PTemp[i] = m_p[i];
	for (int i = 0; i < m_pNum; i++)
	{
		m_p[i].m_x = m_matrix[0][0] * PTemp[i].m_x + m_matrix[0][1] * PTemp[i].m_y + m_matrix[0][2] * PTemp[i].m_z + m_matrix[0][3] * PTemp[i].m_w;
		m_p[i].m_y = m_matrix[1][0] * PTemp[i].m_x + m_matrix[1][1] * PTemp[i].m_y + m_matrix[1][2] * PTemp[i].m_z + m_matrix[1][3] * PTemp[i].m_w;
		m_p[i].m_z = m_matrix[2][0] * PTemp[i].m_x + m_matrix[2][1] * PTemp[i].m_y + m_matrix[2][2] * PTemp[i].m_z + m_matrix[2][3] * PTemp[i].m_w;
		m_p[i].m_w = m_matrix[3][0] * PTemp[i].m_x + m_matrix[3][1] * PTemp[i].m_y + m_matrix[3][2] * PTemp[i].m_z + m_matrix[3][3] * PTemp[i].m_w;
	}
	delete[]PTemp;
}