Points, Vectors, Lines, Spheres and Matrices - UCL Computer Science点，线，向量，矩阵-计算机科学领域和伦敦大学学院.pptVIP

Points, Vectors, Lines, Spheres and Matrices Overview Points Vectors Lines Spheres Matrices 3D transformations as matrices Homogenous co-ordinates Basic Maths In computer graphics we need mathematics both for describing our scenes and also for performing operations on them, such as projection and various transformations. Coordinate systems (right- and left-handed), serve as a reference point. 3 axes labelled x, y, z at right angles. Co-ordinate Systems Points, P (x, y, z) Gives us a position in relation to the origin of our coordinate system Vectors, V (x, y, z) Represent a direction (and magnitude) in 3D space Points != Vectors Vector +Vector = Vector Point – Point = Vector Point + Vector = Point Point + Point = ? Vectors, V (x, y, z) Vectors V Length (modulus) of a vector V (x, y, z) |V| = A unit vector: a vector can be normalised such that it retains its direction, but is scaled to have unit length: Dot Product u · v = xu ·xv + yu ·yv + zu ·zv u · v = |u| |v| cos? ?cos? = u · v/ |u| |v| This is purely a scalar number not a vector. What happens when the vectors are unit What does it mean if dot product == 0 or == 1? Cross Product The result is not a scalar but a vector which is normal to the plane of the other 2 Can be computed using the determinant of: u x v = i(yvzu -zvyu), -j(xvzu - zvxu), k(xvyu - yvxu) Size is u x v = |u||v|sin? Cross product of vector with it self is null Parametric equation of a line (ray) Equation of a sphere Pythagoras Theorem: Given a circle through the origin with radius r, then for any point P on it we have: Equation of a sphere Equation of a sphere Matrix Math Vectors and Matrices Matrix is an array of numbers with dimensions M (rows) by N (columns) 3 by 6 matrix element 2,3 is (3) Vector can be considered a 1 x M matrix Types of Matrix Identity matrices - I Diagonal Symmetric Diagonal matrices are (of course) symmetric Identity matrices are (of course) diagonal Operation on Matrices Addition Done