计算机图形学中的矩阵变化（games101）
1. 二维矩阵线性变换
从二维矩阵变化开始谈起
缩放矩阵(
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Scale Matrix
ScaleMatrix)
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\left[\begin{array}{l}x^{\prime} \\ y^{\prime}\end{array}\right]=\left[\begin{array}{ll}s & 0 \\ 0 & s\end{array}\right]\left[\begin{array}{l}x \\ y\end{array}\right]
[x′y′]=[s00s][xy]
切变矩阵(
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Shear Matrix
ShearMatrix)
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\left[\begin{array}{l}x^{\prime} \\ y^{\prime}\end{array}\right]=\left[\begin{array}{ll}1 & a \\ 0 & 1\end{array}\right]\left[\begin{array}{l}x \\ y\end{array}\right]
[x′y′]=[10a1][xy]
旋转矩阵(
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Rotation Matrix
RotationMatrix)
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sin
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cos
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\mathbf{R}_{\theta}=\left[\begin{array}{cc}\cos \theta & -\sin \theta \\ \sin \theta & \cos \theta\end{array}\right]
Rθ=[cosθsinθ−sinθcosθ]
以上变换都能写成这种形式
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\begin{aligned} x^{\prime} &=a x+b y \\ y^{\prime} &=c x+d y \\\left[\begin{array}{l}x^{\prime} \\ y^{\prime}\end{array}\right] &=\left[\begin{array}{ll}a & b \\ c & d\end{array}\right]\left[\begin{array}{l}x \\ y\end{array}\right] \\ \mathbf{x}^{\prime} &=\mathbf{M} \mathbf{x} \end{aligned}
x′y′[x′y′]x′=ax+by=cx+dy=[acbd][xy]=Mx
称为线性变换
2. 二维矩阵平移变换
这边需要考虑为什么要引入齐次坐标，答案是因为平移变换，目的很明确想要统一坐标转换矩阵
平移矩阵表现形式为
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\left[\begin{array}{l}x^{\prime} \\ y^{\prime}\end{array}\right]=\left[\begin{array}{ll}a & b \\ c & d\end{array}\right]\left[\begin{array}{l}x \\ y\end{array}\right]+\left[\begin{array}{c}t_{x} \\ t_{y}\end{array}\right]
[x′y′]=[acbd][xy]+[txty]
在做平移矩阵变换时二维矩阵没办法直接满足，平移矩阵前半部分表示为线性变换，后半部分表示为平移变换。
3. 其次坐标表示下的二维变换
为了统一变换，使用齐次坐标，得到平移矩阵为：
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⋅
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\left(\begin{array}{c}x^{\prime} \\ y^{\prime} \\ w^{\prime}\end{array}\right)=\left(\begin{array}{ccc}1 & 0 & t_{x} \\ 0 & 1 & t_{y} \\ 0 & 0 & 1\end{array}\right) \cdot\left(\begin{array}{l}x \\ y \\ 1\end{array}\right)=\left(\begin{array}{c}x+t_{x} \\ y+t_{y} \\ 1\end{array}\right)
⎝⎛x′y′w′⎠⎞=⎝⎛100010txty1⎠⎞⋅⎝⎛xy1⎠⎞=⎝⎛x+txy+ty1⎠⎞
在统一一个名词仿射变换(affine)=线性变换+平移变换，使用齐次坐标仿射变换均可以用如下矩阵表示
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⋅
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\left(\begin{array}{l}x^{\prime} \\ y^{\prime} \\ 1\end{array}\right)=\left(\begin{array}{ccc}a & b & t_{x} \\ c & d & t_{y} \\ 0 & 0 & 1\end{array}\right) \cdot\left(\begin{array}{l}x \\ y \\ 1\end{array}\right)
⎝⎛x′y′1⎠⎞=⎝⎛ac0bd0txty1⎠⎞⋅⎝⎛xy1⎠⎞
齐次坐标表示的缩放矩阵
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\mathbf{S}\left(s_{x}, s_{y}\right)=\left(\begin{array}{ccc}s_{x} & 0 & 0 \\ 0 & s_{y} & 0 \\ 0 & 0 & 1\end{array}\right)
S(sx,sy)=⎝⎛sx000sy0001⎠⎞
齐次坐标表示的旋转矩阵
R
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cos
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\mathbf{R}(\alpha)=\left(\begin{array}{ccc}\cos \alpha & -\sin \alpha & 0 \\ \sin \alpha & \cos \alpha & 0 \\ 0 & 0 & 1\end{array}\right)
R(α)=⎝⎛cosαsinα0−sinαcosα0001⎠⎞
齐次坐标表示的平移矩阵
T
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\mathbf{T}\left(t_{x}, t_{y}\right)=\left(\begin{array}{ccc}1 & 0 & t_{x} \\ 0 & 1 & t_{y} \\ 0 & 0 & 1\end{array}\right)
T(tx,ty)=⎝⎛100010txty1⎠⎞
矩阵的逆变换
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\mathbf{M}^{-1}
M−1
先旋转(默认绕着原点旋转)然后平移
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T_{(1,0)} \cdot R_{45}\left[\begin{array}{l}x \\ y \\ 1\end{array}\right]=\left[\begin{array}{lll}1 & 0 & 1 \\ 0 & 1 & 0 \\ 0 & 0 & 1\end{array}\right]\left[\begin{array}{ccc}\cos 45^{\circ} & -\sin 45^{\circ} & 0 \\ \sin 45^{\circ} & \cos 45^{\circ} & 0 \\ 0 & 0 & 1\end{array}\right]\left[\begin{array}{l}x \\ y \\ 1\end{array}\right]
T(1,0)⋅R45⎣⎡xy1⎦⎤=⎣⎡100010101⎦⎤⎣⎡cos45∘sin45∘0−sin45∘cos45∘0001⎦⎤⎣⎡xy1⎦⎤
4. 其次坐标表示下的三维变换
同理对于三维的 变换可以用4*4的其次坐标来表示：
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\left(\begin{array}{l}x^{\prime} \\ y^{\prime} \\ z^{\prime} \\ 1\end{array}\right)=\left(\begin{array}{llll}a & b & c & t_{x} \\ d & e & f & t_{y} \\ g & h & i & t_{z} \\ 0 & 0 & 0 & 1\end{array}\right) \cdot\left(\begin{array}{l}x \\ y \\ z \\ 1\end{array}\right)
⎝⎜⎜⎛x′y′z′1⎠⎟⎟⎞=⎝⎜⎜⎛adg0beh0cfi0txtytz1⎠⎟⎟⎞⋅⎝⎜⎜⎛xyz1⎠⎟⎟⎞
同样还是线性变换先做（旋转缩放）在进行平移操作
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