3D geometry.pptVIP

3D geometry Points, vectors, operators Intersections Poses, changes of coordinates systems Homogeneous transforms Screws Introduction Points are associated with locations of space Vectors represent displacements between points or directions Points, vectors, and operators that combine them are the common tools for solving many geometric problems that arise in Geometric Modeling, Computer Graphics, Animation, Visualization, and Computational Geometry. The three most fundamental operators on vectors are the dot product, the cross product, and the mixed product (sometimes called the triple product). Although a point and a vector may be represented by its three coordinates, they are of different type and should not be mixed Avoid, whenever possible, using coordinates when formulating geometric constructions. Instead use vectors and points. What you are expected to learn here Properties of dot, cross, and mixed products How to write simple tests for 4-points and 2-lines co-planarity Intersection of two coplanar edges Parallelism of two edges or of two lines Clockwise orientation of a triangle from a viewpoint Positive orientation of a tetrahedron Edge/triangle and ray/triangle intersection How to compute Center of mass of a triangle Volume of a tetrahedron “Shadow” (orthogonal projection) of a vector on a plane Line/plane intersection Plane/plane intersection Plane/plane/plane intersection How to change coordinate systems How to compute, combine, and apply transformations Terminology “Normal to” = “Orthogonal to” = “forms a 90o angle with” “Norm of a vector” = “length of the vector” “Triangle normal” = “vector normal to plane containing triangle ” “Are coplanar” = “there is a plain containing them” “Are collinear” = “there is a line containing them” Vectors Vector space (analytic definition from Descartes in the 1600s) U+V=V+U (vector addition) U+(V+W)=(U+V)+W 0 is the zero (or null) vector if ?V, 0+V=V –V is the inverse of V, so that the vector subtraction V–V= 0 s(U