I have a 3d object, to which I sequentially apply 3 4\times4 transformation matrices, A, B, an

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licencegpopc

Answered question

2022-01-30

I have a 3d object, to which I sequentially apply 3 4×4 transformation matrices, A, B, and C. To generalize, each transformation matrix is determined by the multiplication of a rotation matrix by a translation matrix.
How can I calculate the final transformation matrix t, which defines how to get from the original 3d object to the final transformed object?

Answer & Explanation

Jaiden Conrad

Jaiden Conrad

Beginner2022-01-31Added 14 answers

Step 1
If you take an initial point pi, apply a transform A, then apply transform B, then apply transform C to get a final point pf, then we have
pf=C(B(A(pi)))
pf=CBApi
So the total transformation is t=CBA
This is one of the reasons why matrix multiplication is so nice-it lets us compose many linear transforms into a single linear transform. You just need to remember that the first transformation belongs on the right (closest to the point p it acts on).
Allison Compton

Allison Compton

Beginner2022-02-01Added 16 answers

Step 1
Each 4×4 transformation matrix is of the form
Ti=|Riti01|
such that when applied to a 4×1 point (p,1) the result is a rotation and a translation (ti+Rip,1)
Now combine three transformations for
|R1t101||R2t201||R3t301|
|R1R2R3t1+R1(t2+R2t3)01|

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