VisibilityWeek 9, Fri 31 Oct 2003.ppt

VisibilityWeek 9, Fri 31 Oct 2003 News extra office hours Thu 5:30-6:30 Friday 11-1:30, 4:30-5:30 Mon 10:30-12:30, 1-3 (normal lab hours: Thu 12-1, Fri 10-11) don’t use graphics remotely! or else console person can’t use graphics reboot if you have this problem this week’s labs: picking, texturing details Rotation Methods recap Representing 3 Rotational DOFs 3x3 Matrix (9 DOFs) Rows of matrix define orthogonal axes Euler Angles (3 DOFs) Rot x + Rot y + Rot z Axis-angle (4 DOFs) Axis of rotation + Rotation amount Quaternion (4 DOFs) 4 dimensional complex numbers Rotation Matrices Won’t Interpolate interpolate linearly from +90 to -90 in y halfway through component interpolation problem 1: not a rotation matrix anymore! not orthonormal, x flattened out Euler Angles Have Gimbal Lock keep rotation angle for each axis problem 2: gimbal lock occurs when two axes are aligned second and third rotations have effect of transforming earlier rotations if Rot y = 90 degrees, Rot z == -Rot x Gimbal Lock Axis-angle Won’t Concatenate Quaternions quaternion is a 4-D unit vector q = [x y z w] lies on the unit hypersphere x2 + y2 + z2 + w2 = 1 for rotation about (unit) axis v by angle q vector part = (sin q/2) v = [x y z] scalar part = (cos q/2) = w rotation matrix quaternion multiplication q1 * q2 = [v1, w1] * [v2, w2] = [(w1v2+w2v1+ (v1 x v2)), w1w2-v1.v2] Rotation Methods Summary 3x3 matrices good: simple. bad: drifting, can’t interpolate Euler angles good: can interpolate, no drift bad: gimbal lock axis-angle good: no gimbal lock, can interpolate bad: can’t concatenate quaternions good: solve all problems. bad: complex Visibility Rendering Pipeline modeling transformations viewing transformations projection transformations clipping scan conversion lighting shading we now know everything about how to draw a polygon on the screen, except visible surface determination Invisible Primitives why might a polygon be invisible? polygon outside the field of