Games101 ---3

变换

为什么学习变换

1.表示旋转等复杂的动作
2.做动画
3.光栅化成像

二维的变换

缩放(Scale)

1.设 S1,S2为扩大或缩小的倍数
S1缩放x轴 S2缩放y轴
$\left\{\begin{array}{c}{\mathbf{x}}^{{}^{\prime }}\\ {\mathbf{y}}^{{}^{\prime }}\end{array}\right\}=\left\{\begin{array}{ccc}S1& & 0\\ 0& & S2\end{array}\right\}\ast \left\{\begin{array}{c}x\\ y\end{array}\right\}$

2.缩放矩阵
$\left\{\begin{array}{cc}S1& 0\\ 0& S2\end{array}\right\}$

反射(Reflection)

1.也就是反转
${\mathbf{x}}^{{}^{\prime }}=-x$
${\mathbf{y}}^{{}^{\prime }}=-y$

2.反转矩阵
$\left\{\begin{array}{c}{\mathbf{x}}^{{}^{\prime }}\\ {\mathbf{y}}^{{}^{\prime }}\end{array}\right\}=\left\{\begin{array}{ccc}-1& & 0\\ 0& & 1\end{array}\right\}\ast \left\{\begin{array}{c}x\\ y\end{array}\right\}$

切变(Shear)

1.设a为切变的距离 则
${\mathbf{y}}^{{}^{\prime }}=y$
${\mathbf{x}}^{{}^{\prime }}=ax$
$\left\{\begin{array}{c}{\mathbf{x}}^{{}^{\prime }}\\ {\mathbf{y}}^{{}^{\prime }}\end{array}\right\}=\left\{\begin{array}{cc}1& a\\ 0& 1\end{array}\right\}\ast \left\{\begin{array}{c}x\\ y\end{array}\right\}$

注：*重要的是知道x和y是如何变化的 才能判断矩阵怎么写*

旋转(Rotate)

一般默认以逆时针为正方向
1.设$\theta 为旋转角度$
$\left\{\begin{array}{c}{\mathbf{x}}^{{}^{\prime }}\\ {\mathbf{y}}^{{}^{\prime }}\end{array}\right\}=\left\{\begin{array}{cc}cos\theta & -sin\theta \\ sin\theta & cos\theta \end{array}\right\}\ast \left\{\begin{array}{c}x\\ y\end{array}\right\}$

2.旋转矩阵
$R\theta =\left\{\begin{array}{cc}cos\theta & -sin\theta \\ sin\theta & cos\theta \end{array}\right\}$
3.只要不声明旋转点在哪，那就在原点

线性变换(Linear Transforms)

是以上的总结
${\mathbf{x}}^{{}^{\prime }}=ax+by$
${\mathbf{y}}^{{}^{\prime }}=cx+dy$
$M=\left\{\begin{array}{c}{\mathbf{x}}^{{}^{\prime }}\\ {\mathbf{y}}^{{}^{\prime }}\end{array}\right\}=\left\{\begin{array}{cc}a& b\\ c& d\end{array}\right\}\ast \left\{\begin{array}{c}x\\ y\end{array}\right\}$
${\mathbf{x}}^{{}^{\prime }}=Mx$

移动

$\left\{\begin{array}{c}{\mathbf{x}}^{{}^{\prime }}\\ {\mathbf{y}}^{{}^{\prime }}\end{array}\right\}=\left\{\begin{array}{cc}a& b\\ c& d\end{array}\right\}\ast \left\{\begin{array}{c}x\\ y\end{array}\right\}+\left\{\begin{array}{c}t1\\ t2\end{array}\right\}$

####齐次坐标
齐次坐标就是将一个原本是n维的向量用一个n+1维向量来表示
齐次坐标解析
####矩阵表示
$2Dpoint={(\mathbf{x},\mathbf{y},\mathbf{a})}^{\mathrm{T}}$
a不等于0

但由于向量具有平移不变性 ，因此
$2Dvector={(\mathbf{x},\mathbf{y},0)}^{\mathrm{T}}$
通过a = 0的手法使向量移动中不改变它
$\left\{\begin{array}{c}{\mathbf{x}}^{{}^{\prime }}\\ {\mathbf{y}}^{{}^{\prime }}\\ {\mathbf{w}}^{{}^{\prime }}\end{array}\right\}=\left\{\begin{array}{ccc}1& 0& tx\\ 0& 1& ty\\ 0& 0& 1\end{array}\right\}\ast \left\{\begin{array}{c}x\\ y\\ 1\end{array}\right\}=\left\{\begin{array}{c}x+tx\\ y+ty\\ 1\end{array}\right\}$

向量与点的运算

1.向量+向量=向量
体现在 w1+w2 = 0
2.点 - 点 = 向量
体现在w1 = w2 且 w1-w2 = 0
3.点+向量=点
体现在w1不等于0但w2等于0 且 w1-w2不等于0
4.点 + 点 = 两点的中点
$设点p1为\left\{\begin{array}{c}x1\\ y1\\ 1\end{array}\right\}p2=\left\{\begin{array}{c}x2\\ y2\\ 1\end{array}\right\}$
$ 则p1+p2=\begin{Bmatrix}x1+x2\y1+y2\2\end{Bmatrix}=\begin{Bmatrix}\frac{x1+x2}{2}\\frac{y1+y2}{2}\1\end{Bmatrix} $
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###仿射变换
仿射变换，又称仿射映射，是指在几何中，一个向量空间进行一次线性变换并接上一个平移，变换为另一个向量空间
1.也就是以上提到的线性变换加一次平移
$\left\{\begin{array}{c}{\mathbf{x}}^{{}^{\prime }}\\ {\mathbf{y}}^{{}^{\prime }}\end{array}\right\}=\left\{\begin{array}{cc}a& b\\ c& d\end{array}\right\}\ast \left\{\begin{array}{c}x\\ y\end{array}\right\}+\left\{\begin{array}{c}t1\\ t2\end{array}\right\}$
2.可以被齐次坐标表示

齐次坐标表示下变换矩阵的特点

$\left\{\begin{array}{ccc}a& b& tx\\ c& d& ty\\ 0& 0& 1\end{array}\right\}$
1.第三行前两列都是0
…
####齐次坐标下的各种矩阵
1.缩放矩阵(Scale)
$M=\left\{\begin{array}{ccc}S1& 0& 0\\ 0& S2& 0\\ 0& 0& 1\end{array}\right\}$
2.旋转矩阵
$M=\left\{\begin{array}{ccc}cos\theta & -sin\theta & 0\\ sin\theta & cos\theta & 0\\ 0& 0& 1\end{array}\right\}$
3.平移矩阵
$M=\left\{\begin{array}{ccc}1& 0& tx\\ 0& 1& ty\\ 0& 0& 1\end{array}\right\}$

逆变换

1.乘对应的逆矩阵

矩阵乘法的方向以右往左

假设矩阵M先旋转后平移 则表达式应为
${\mathbf{M}}^{{}^{\prime }}=\left\{\begin{array}{ccc}1& 0& tx\\ 0& 1& ty\\ 0& 0& 1\end{array}\right\}\ast \left\{\begin{array}{ccc}cos\theta & -sin\theta & 0\\ sin\theta & cos\theta & 0\\ 0& 0& 1\end{array}\right\}\ast M$
从右往左运算

合成变换

可将变换矩阵先相乘后与向量矩阵相乘
An(…A2(A1(x)))M = An…A2A1M = (An*…A2*A1)*M