CS 445 / 645 Introduction to Computer Graphics

1. CS 445 / 645Introduction to Computer Graphics Lecture 5 Assignment 1 3D Primitives and Transformations

2. Assignment 1 • We’ve hit a snag with assignment 1 • Due date extended one week – Sept. 26th • I’m creating an intermediate programming assignment • Visual Studio 7 isn’t ready for dept. release yet • We’re revamping for Visual Studio 6 • You can set things up for yourself, but we are trying to simplify the process for you

3. Assignment 1 – more details • Assignment 1 uses FLTK, GLUT, Boost • The source for each tool is accessible online • You can download the source and compile the needed libraries yourself (contact TA for Boost details) • To simplify and standardize • We are compiling the source into libraries for you and putting them in a shared location (that’s the snag) • You can start on this right now, but you may have to tweak your project files to work with our released libraries

4. Intermediate Assignment • Assignment 0 – not graded but checked • Set up your class account on blue.unix.virginia.edu • Instructions to follow • Experiment with FLTK • http://www.cs.wisc.edu/~schenney/courses/cs559-s2002/assignments/assignment1/ • Experiment with OpenGL • http://www.cs.virginia.edu/~gfx/Courses/2001/Intro.fall.01/Exercises/assignment2.htm

5. Assignment 0 • Due Tuesday, Sept 17th at 5:00 p.m. • Email me ASAP if your blue.unix account doesn’t exist • Turn in: • Create directory on blue: /courses/cs/Students/username/Assignment0 • Complete the FLTK tutorial and leave an executable in your directory called assign0.exe that accomplishes what’s described in “Adding Basic Components to a Window” in the Wisconsin tutorial • Optional – play with last year’s firetruck demo

6. Assignment 0 • Setting up your directory on blue.unix.virginia.edu • Log on to blue • ‘cd /courses/cs/445_brogan/Students’ • ‘mkdir username’ where username is your UVA username • ‘mkdir username/Assignment0’ • Next week I’ll lock things down and protect file read permissions

7. Assignment 0 • Location of VC7 libraries/includes • blue.unix:/courses/cs/445_brogan/Sources/VC7 • Future location of VC6 libraries/includes • blue.unix:/courses/cs/445_brogan/Sources/VC6 • I’ll send an email to reiterate/clarify • If you’re auditing class, make sure I have your email

8. Goals of these assignments • Get the programming environment up and running • Get practice with matrix composition • Get practice with line/surface equations • Get practice building GUIs quickly

9. Question from last class • Why does OpenGL post-multiply? • No particular reason • Are you transforming the point (bottom up) • Are you transforming the coordinate system (top down) • OpenGL authors prefer the latter • If you don’t like it…. • Transpose the matrices and premultiply them

10. OpenGL: Front/Back Rendering • Each polygon has two sides, front and back • OpenGL can render the two differently • The ordering of vertices in the list determines which is the front side: • When looking at the front side, the vertices go counterclockwise • This is basically the right-hand rule • Note that this still holds after perspective projection

11. OpenGL: Specifying Geometry • Geometry in OpenGL consists of a list of vertices in between calls to glBegin() and glEnd() • A simple example: telling GL to render a triangle glBegin(GL_POLYGON); glVertex3f(x1, y1, z1); glVertex3f(x2, y2, z2); glVertex3f(x3, y3, z3); glEnd(); • Usage: glBegin(geomtype) where geomtype is: • Points, lines, polygons, triangles, quadrilaterals, etc...

12. OpenGL: Drawing Triangles • You can draw multiple triangles between glBegin(GL_TRIANGLES) and glEnd(): float v1[3], v2[3], v3[3], v4[3]; ... glBegin(GL_TRIANGLES); glVertex3fv(v1); glVertex3fv(v2); glVertex3fv(v3); glVertex3fv(v1); glVertex3fv(v3); glVertex3fv(v4); glEnd(); • Each set of 3 vertices forms a triangle • How much redundant computation is happening?

13. OpenGL: Triangle Strips • An OpenGL triangle strip primitive reduces this redundancy by sharing vertices: • glBegin(GL_TRIANGLE_STRIP); • glVertex3fv(v0); • glVertex3fv(v1); • glVertex3fv(v2); • glVertex3fv(v3); • glVertex3fv(v4); • glVertex3fv(v5); • glEnd(); • triangle 0 is v0, v1, v2 • triangle 1 is v2, v1, v3 (why not v1, v2, v3?) • triangle 2 is v2, v3, v4 • triangle 3 is v4, v3, v5 (again, why not v3, v4, v5) v2 v4 v0 v5 v1 v3

14. OpenGL: More Examples • Example: GL supports quadrilaterals: glBegin(GL_QUADS); glVertex3f(-1, 1, 0); glVertex3f(-1, -1, 0); glVertex3f(1, -1, 0); glVertex3f(1, 1, 0); glEnd(); • This type of operation is called immediate-mode rendering; each command happens immediately

15. Primitive Types • GL_POINTS • GL_LINE • {S | _STRIP | _LOOP} • GL_TRIANGLE • {S | _STRIP | _FAN} • GL_QUAD • {S | _STRIP} • GL_POLYGON

16. GL_POLYGON • List of vertices defines polygon edges • Polygon must be convex

17. Non-planar Polygons • Imagine polygon with non-planar vertices • Some perspectives will be rendered as concave polygons • These concave polygons may not rasterize correctly

18. Single Buffering • ‘Buffer’ corresponds to frame buffer • ‘Single’ corresponds to there being just one • Place where you write pixel color values is same place graphics hardware goes to read color values for display • Can draw on top of existing image • Might be faster than redrawing whole image • Can also lead to flickering and half-drawn images

19. Double Buffering • OpenGL writes raster image to separate buffer from that read for display • ‘front’ buffer is for video signal • ‘back’ buffer is the drawing target • After each frame is drawn, the front and back buffers swap • glxSwapBuffers (Display *dpy, Window, w) • glutSwapBuffers (void) • Avoids displaying partially rendered frame buffer • Avoids flickering

20. Setting up the OpenGL Window • Must clear the ‘canvas’ before drawing • glClearColor (r, g, b, a) • Specify the color to initialize canvas to • Typically set a to 0.0 to make fully transparent • This is a state variable and can only be called once • glClear(GL_COLOR_BUFFER_BIT) • Actually clear the screen • glClear could also clear the GL_DEPTH_BUFFER_BIT • We’re not worried about that now

21. 3-D Transformations • We studied the details of 2-D transformations • I introduced the expanded 3-D transformations • We’ve got some more details…

22. Scaling and Translation in 3-D • Pretty much just like 2-D • Just add on the z dimension to everything • Scaling • Translation

23. Rotation in 3-D • Looks similar to 2-D Case • Specify arbitrray rotation as three angles • One per coordinate axis • Called an Euler Angle • Common representation • But order of rotations matters

24. 3-D Rotation • General rotations in 3-D require rotating about an arbitrary axis of rotation • Deriving the rotation matrix for such a rotation directly is a good exercise in linear algebra • Standard approach: express general rotation as composition of canonical rotations • Rotations about X, Y, Z

25. Composing Canonical Rotations • Goal: rotate about arbitrary vector A by  • Idea: we know how to rotate about X,Y,Z • So, rotate about Y by  until A lies in the YZ plane • Then rotate about X by  until A coincides with +Z • Then rotate about Z by  • Then reverse the rotation about X (by -) • Then reverse the rotation about Y (by -)

26. Composing Canonical Rotations • First: rotating about Y by  until A lies in YZ • How exactly do we calculate ? • Project A onto XZ plane (Throw away y-coordinate) • Find angle  to X:  = -(90° - ) =  - 90 ° • Second: rotating about X by  until A lies on Z • How do we calculate ?

27. Composing Canonical Rotations • Why are we slogging through all this tedium? • A1: Because you’ll have to do it on the test • A2: Because it will help with the assignment • Computing intersection between a parabola and ground plane y+ dist = ?

28. 3-D Rotation Matrices • So an arbitrary rotation about A composes several canonical rotations together • We can express each rotation as a matrix • Composing transforms == multiplying matrices • Thus we can express the final rotation as the product of canonical rotation matrices • Thus we can express the final rotation with a single matrix!

29. Composing Matrices • So we have the following matrices: • p: The point to be rotated about A by  • Ry : Rotate about Y by  • Rx : Rotate about X by  • Rz : Rotate about Z by  • Rx -1: Undo rotation about X by  • Ry-1: Undo rotation about Y by  • In what order should we multiply them?

30. Compositing Matrices • Short answer: the transformations, in order, are written from right to left • In other words, the first matrix to affect the vector goes next to the vector, the second next to the first, etc. • So in our case: • p’ = Ry-1 Rx -1 Rz Rx Ry p

31. Rotation Matrices • Notice these two matrices: • Rx : Rotate about X by  • Rx -1: Undo rotation about X by  • How can we calculate Rx  -1?

32. Rotation Matrices • Notice these two matrices: • Rx : Rotate about X by  • Rx -1: Undo rotation about X by  • How can we calculate Rx  -1? • Obvious answer: calculate Rx (-) • Clever answer: exploit fact that rotation matrices are orthonormal

33. Rotation Matrices • Notice these two matrices: • Rx : Rotate about X by  • Rx -1: Undo rotation about X by  • How can we calculate Rx  -1? • Obvious answer: calculate Rx (-) • Clever answer: exploit fact that rotation matrices are orthonormal • What is an orthonormal matrix? • What property are we talking about?

34. Rotation Matrices • Orthonormal matrix: • orthogonal (columns/rows linearly independent) • normalized (columns/rows length of 1) • The inverse of an orthogonal matrix is just its transpose:

35. Rotation Matrix • 9 DOFs must reduce to 3 • Rows must be unit length (-3 DOFs) • Rows must be orthogonal (-3 DOFs) • Drifting matrices is very bad • Numerical errors results when trying to gradually rotate matrix by adding derivatives • Resulting matrix may scale / shear • Gram-Schmidt algorithm will re-orthogonalize your matrix • Difficult to interpolate between matrices

36. Euler Angles • (qx, qy, qz) = RzRyRx • Rotate qx degrees about x-axis • Rotate qy degrees about y-axis • Rotate qz degrees about z-axis • Axis order is not defined • (y, z, x), (x, z, y), (z, y, x)… are all legal • Pick one

37. Euler Angles • Rotations not uniquely defined • ex: (z, x, y) = (90, 45, 45) = (45, 0, -45)takes positive x-axis to (1, 1, 1) • cartesian coordinates are independent of one another, but Euler angles are not • Gimbal Lock • Term derived from mechanical problem that arises in gimbal mechanism that supports a compass or a gyro

38. Gimbal Lock

39. Gimbal Lock • Occurs when two axes are aligned • Second and third rotations have effect of transforming earlier rotations • ex: Rot x, Rot y, Rot z • If Rot y = 90 degrees, Rot z == -Rot x