Category: "knowledge"

| (Absolute) Mentality |

general, communication, knowledge Send feedback »

When you know nothing, it's easy to think you know everything

I haven't yet decided if I think this is a universal flaw among people or that it is a trait more prone to the practitioners of our profession; I am referring to the absolute mentality that so many people seem to use when making decisions. This is a closed-minded approach to solving problems. This is the basic concept:

"There is one absolutely best practice, and you are an idiot if you don't subscribe to the same approach that I take."

It is important to leave your comfort zone to expand your abilities. You can increase your potential by learning to spot this cognitive bias, recognize when you are limiting your potential by falling prey to it, and learn to evaluate objectively as you make decisions in your day-to-day activities.

Full story »

Fundamentals of C++: Introduction to Templates

C++, knowledge, beginner Send feedback »

Recently I have been helping a colleague convert a series of painfully repetitive code segments into function templates and template classes. I respect this colleague very much and he is a very skilled developer, including the use of the C++ Standard Library. However, he has never developed any templates of his own. As I was helping him learn how to develop new templates it occurred to me that there are plenty of fundamental C++ concepts that are given very little attention. This creates an enormous gap in reference material to progress from the competent skill level to proficient and expert levels.

Therefore, I am going to periodically write about fundamental concepts and how to actually apply them to your daily development. This post discusses templates at a very basic level. Entire books have been written about them. I will revisit with more sophisticated applications of templates in the future.

Full story »


general, knowledge 1 feedback »
Surprisingly, to me at least, as a software developer I have had a decent amount of experience relating to software patents and copyrights. I wanted to share my experiences, knowledge, and bring attention to current events.

Copyright Infringement

Let's start with my personal experience with copyright infringement.

Before I created my own site, I posted many articles at I like to write on topics that I am interested in to learn them better. Around 2002 I wrote a basic implementation of the game Tetris to learn DirectX and similar technologies. I posted this on

The Tetris Company is a very litigious entity, and ownership of game itself is has been surrounded in controversy throughout its existence. In 2007 I received a letter from CodeProject informing me that they had to remove my article from their site because they received a DMCA copyright notice from The Tetris Company.

Then about nine months later, CodeProject sent me another letter indicating that if I were to remove all references to "Tetris" from my article and code, they could repost it on the site. They also included a few legal references for me to help educate myself on copyright law, which I will share in a moment.

After a bit of research I settled on a new name for my game, Quadrino. I removed references to the name "Tetris" and cleaned up my article. CodeProject then reposted it to their site, and I haven't been harrassed by The Tetris Company since then.

If you are interested, you can checkout Quadrino[^] at CodeProject. This version uses DirectX 7 and 8, but it still works. I have a port that I updated to use Direct 2D and added support for Xbox 360 controllers, however, I never polished it up enough to release it.

What Does a Copyright Protect?

(Disclaimer: The following is my understanding and experiences with copyright law. I'm not lawyer and the courts and legal system do not always seem to play out logically to me. Also, it seems to me that what you can prove in a court of law tends to be more valuable than the truth.)

It turns out that a copyright only protects the original expression of an idea, but not the idea itself (which really does lead to a lot of confusion and misinterpretations).

For example:

  • Books
  • Poems
  • Lyrics to a song (written or otherwise)
  • Written sheet music for a melody
  • A recorded version of the singer singing or a musician playing
  • Paintings
  • Sculptures
are all fairly straight-forward examples to understand as having copyright protection.

Other examples of creations that are protected:

  • Software Source Code as well as compiled binaries
  • Hardware design documents
  • Research Papers
  • Blog entries
  • Internet forum comments
  • Contracts
  • Technical Manuals
  • Parker Brothers's written rules to Monopoly

The name of the game Monopoly is trademarked (a different form of protection, which is also different from a "registered trademark"). The written rules to Monopoly have copyright protection, however, the concept of the game of Monopoly itself cannot be protected in any way. That is why you will see games similar to Monopoly from time to time. Such as a local city themed version of the game with local landmarks, events, celebrities. As long as they write their own version of the rules and avoid the name Monopoly, they can legally sell their game.

This is the aspect of copyrights that allowed me to change the name of my game and avoid any further infringement violations.

Then issues start to arise such as the "look and feel" of a product and so on.

And yes, works published on the Internet are publically accessible, however, they are not considered in the public domain, which means you still hold the copyright to whatever you post. Terms of service for a website may state that by posting content on their site that you give them ownership, a limited use copyright license, or many other things (damn fine print.)

How do you Copyright something?

Step 1: You create it

Congratulations! You have just completed the copyright process to the expression of your idea!

That's it!

There is only one step. You do not need to put a copyright symbol on the creative work, no date is required, and the "poor man's" copyright is a myth. That is, sending yourself a sealed copy of your work in the mail doesn't gain you anything (you'll actually be out the cost of the envelope and price of shipping, not to mention the "opportunity cost" of what you could have done with your time instead of mailing something to yourself).

Adding the symbols, date, signing with your name etc. helps establish ownership and disambiguate that you are claiming your copy rights. Otherwise, if you can prove that you are the creator of a work, then you automatically own the copyright of that work (and it's what you can prove in a court of law that actually matters.)

This is for works created after 1989, because copyright notices were required before this point. For more details on this, look up the Berne Convention Implementation Act, which makes copyright ownership automatic. If you created your work before 1989 and forgot to properly mark your creative work, you may still be able to claim it. You should consult a lawyer if it matters that much.

Fair Use

I am not going to go into full detail on this, but there is a concept of fair use on copyrights. For the purpose of reviews, references and citations you can use a portion of a creation that is under copy protection. You can also use this content for satire and parodies and to create derivative works.

Supreme Court decisions

  • 1994 Campbell v. Acuff-Rose Music, Inc. [Copyright - Fair Use - Parody]
  • 1984Sony Corp. of Am. v. Universal City Studios, Inc. [Copyright - Fair Use - Sale and Use of VCRs]

Derivative Works

Derivative works are a sticky issue. These works can be derivations of an existing work, but they must be more your work than the original. Beyond that basic notion, my understanding is limited. This is a very gray area. Hell, Google avoided a $9.2B lawsuit against Oracle that has been raging in our courts since 2011, because the jury ruled Google had Fair Use rights to create a derivative work. Many analysts are expecting Oracle to appeal. We'll have to wait and see what happens.

Digital Millennium Copyright Act(DMCA)

The Digital Millennium Copyright Act (DMCA) is a four-letter word for security researchers and hobbyists, especially section 1201. It was enacted in 1998 and was aimed at protecting the actors, authors, artists and musicians (more accurately studios, publishers, and recording companies) creative works (distributed content) from being illegally pirated on the Internet and other forms of digital media that began to evolve.

One of the clauses and subsequent side-effects of this law (in the United States) prohibits a lawful owner from reverse engineering anti-circumvention provisions in most cases. This has brought John Deere and auto manufacturer's into the spot light recently as they are trying to use this law to prevent security researchers from looking for vulnerabilities in their equipment and maintain a monopoly on the support and repair of these complex systems.

It's some of the side-effects of the DCMA that make me a little jumpy at the threat of being sued. The penalties could reach a fine of $5M and 5 years in prison. For this reason, the Electronic Frontier Foundation (EFF) is suing the federal government on behalf of Andrew Huang, and Matthew Green. You can read the press release made by the EFF here: EFF Lawsuit Takes on DMCA Section 1201: Research and Technology Restrictions Violate the First Amendment[^].

Wait! What are those sub-clauses in section 1201?

There are a number of sub-clauses in section 1201 that actually give owners of lawfully acquired (i.e., not pirated or stolen) copy written material, to reverse-engineer and circumvent the copyright protection mechanism in a few select instances:

  • f. Reverse Engineering for achieving interoperability
  • g. Encryption Research
  • i. Protection of Personally Identifying Information
  • j. Security Testing (Research)

I mentioned this to Matt Green through Twitter, and his response was:

Matthew Green's Response

Matt wrote a blog entry that details why he is doing this. You can read that here: Matthew Green's Statement on DMCA lawsuit[^]

After I read his blog post I asked myself this question:

Even with the law on my side, do I really want to risk getting taken to court by a mega-corporation with deep pockets?

My conclusion:



Copyright and patent infringement are civil offenses and are likely only to become a concern for hackers if the goal is to duplicate and manufacture their own product for profit. Regardless of their moral view on if they are entitled to hack systems, violation of one of these IP legal protections is likely to only affect a hacker if their activities will end in a lawsuit and probable loss in an infringement case with the original manufacturer.

Otherwise, the criminal penalties for hacking are much more severe with penalties that could include both jail time and monetary fines. When the topic moves into espionage, a death sentence is even a potential outcome. Therefore, I doubt that any hackers (with the exception of corporate reverse-engineers) even consider the legal violations of IP protection that they are committing.

3D Projection and Matrix Transforms

knowledge, math Send feedback »

My previous two entries have presented a mathematical foundation for the development and presentation of 3D computer graphics. Basic matrix operations were presented, which are used extensively with Linear Algebra. Understanding the mechanics and limitations of matrix multiplication is fundamental to the focus of this essay. This entry demonstrates three ways to manipulate the geometry defined for your scene, and also how to construct the projection transform that provides the three-dimensional effect for the final image.


There are three types of transformations that are generally used to manipulate a geometric model, translate, scale, and rotate. Your models and be oriented anywhere in your scene with these operations. Ultimately, a single square matrix is composed to perform an entire sequence of transformations as one matrix multiplication operation. We will get to that in a moment.

For the illustration of these transforms, we will use the two-dimensional unit-square shown below. However, I will demonstrate the math and algorithms for three dimensions.

\( \eqalign{ pt_{1} &= (\matrix{0 & 0})\\ pt_{2} &= (\matrix{1 & 0})\\ pt_{3} &= (\matrix{1 & 1})\\ pt_{4} &= (\matrix{0 & 1})\\ }\) Unit-square model


Translating a point in 3D space is as simple as adding the desired offset for the coordinate of each corresponding axes.

\( V_{translate}=V+D \)

For instance, to move our sample unit cube from the origin by \(x=2\) and \(y=3\), we simply add \(2\) to the x-component for every point in the square, and \(3\) to every y-component.

\( \eqalign{ pt_{1D} &= pt_1 + [\matrix{2 & 3}] \\ pt_{2D} &= pt_2 + [\matrix{2 & 3}] \\ pt_{3D} &= pt_3 + [\matrix{2 & 3}] \\ pt_{4D} &= pt_4 + [\matrix{2 & 3}] \\ }\) Translation

There is a better way, though.

That will have to wait until after I demonstrate the other two manipulation methods.

Identity Matrix

The first thing that we need to become familiar with is the identity matrix. The identity matrix has ones set along the diagonal with all of the other elements set to zero. Here is the identity matrix for a \(3 \times 3\) matrix.

\( \left\lbrack \matrix{1 & 0 & 0\cr 0 & 1 & 0\cr 0 & 0 & 1} \right\rbrack\)

When any valid input matrix is multiplied with the identity matrix, the result will be the unchanged input matrix. Only square matrices can identity matrices. However, non-square matrices can be used for multiplication with the identity matrix if they have compatible dimensions.

For example:

\( \left\lbrack \matrix{a & b & c \\ d & e & f \\ g & h & i} \right\rbrack \left\lbrack \matrix{1 & 0 & 0\cr 0 & 1 & 0\cr 0 & 0 & 1} \right\rbrack = \left\lbrack \matrix{a & b & c \\ d & e & f \\ g & h & i} \right\rbrack \)

\( \left\lbrack \matrix{7 & 6 & 5} \right\rbrack \left\lbrack \matrix{1 & 0 & 0\cr 0 & 1 & 0\cr 0 & 0 & 1} \right\rbrack = \left\lbrack \matrix{7 & 6 & 5} \right\rbrack \)

\( \left\lbrack \matrix{1 & 0 & 0\cr 0 & 1 & 0\cr 0 & 0 & 1} \right\rbrack \left\lbrack \matrix{7 \\ 6 \\ 5} \right\rbrack = \left\lbrack \matrix{7 \\ 6 \\ 5} \right\rbrack \)

We will use the identity matrix as the basis of our transformations.


It is possible to independently scale geometry along each of the standard axes. We first start with a \(2 \times 2\) identity matrix for our two-dimensional unit square:

\( \left\lbrack \matrix{1 & 0 \\ 0 & 1} \right\rbrack\)

As we demonstrated with the identity matrix, if we multiply any valid input matrix with the identity matrix, the output will be the same as the input matrix. This is similar to multiplying by \(1\) with scalar numbers.

\( V_{scale}=VS \)

Based upon the rules for matrix multiplication, notice how there is a one-to-one correspondence between each row/column in the identity matrix and for each component in our point..

\(\ \matrix{\phantom{x} & \matrix{x & y} \\ \phantom{x} & \phantom{x} \\ \matrix{x \\ y} & \left\lbrack \matrix{1 & 0 \\ 0 & 1} \right\rbrack } \)

We can create a linear transformation to scale point, by simply multiplying the \(1\) in the identity matrix, with the desired scale factor for each standard axis. For example, let's make our unit-square twice as large along the \(x-axis\) and half as large along the \(y-axis\):

\(\ S= \left\lbrack \matrix{2 & 0 \\ 0 & 0.5} \right\rbrack \)

This is the result, after we multiply each point in our square with this transformation matrix; I have also broken out the mathematic calculations for one of the points, \(pt_3(1, 1)\):

\( \eqalign{ pt_{3}S &= \\ &= [\matrix{1 & 1}] \left\lbrack\matrix{2 & 0 \\ 0 & 0.5} \right\rbrack\\ &= [\matrix{(1 \cdot 2 + 1 \cdot 0) & (1 \cdot 0 + 1 \cdot 0.5)}] \\ &= [\matrix{2 & 0.5}] }\) Scale

Here is the scale transformation matrix for three dimensions:

\(S = \left\lbrack \matrix{S_x & 0 & 0 \\ 0 & S_y & 0 \\ 0 & 0 & S_z }\right\rbrack\)


A rotation transformation can be created similarly to how we created a transformation for scale. However, this transformation is more complicated than the previous one. I am only going to present the formula, I am not going to explain the details of how it works. The matrix below will perform a counter-clockwise rotation about a pivot-point that is placed at the origin:

\(\ R= \left\lbrack \matrix{\phantom{-} \cos \Theta & \sin \Theta \\ -\sin \Theta & \cos \Theta} \right\rbrack \)


As I mentioned, the rotation transformation pivots the point about the origin. Therefore, if we attempt to rotate our unit square, the result will look like this:

The effects become even more dramatic if the object is not located at the origin:

In most cases, this may not be what we would like to have happen. A simpler way to reason about rotation is to place the pivot point in the center of the object, so it appears to rotate in place.

To rotate an object in place, we will need to first translate the object so the desired pivot point of the rotation is located at the origin, rotate the object, then undo the original translation to move it back to its original position.

Translate object's pivot point to the origin Rotate Translate the rotated object back to it's original position

While all of those steps must be taken in order to rotate an object about its center, there is a way to combine those three steps to create a single matrix. Then only one matrix multiplication operation will need to be performed on each point in our object. Before we get to that, let me show you how we can expand this rotation into three dimensions.

Imagine that our flat unit-square object existed in three dimensions. It is still defined to exist on the \(xy\) plane, but it has a third component added to each of its points to mark its location along the \(z-axis\). We simply need to adjust the definition of our points like this:

\( \eqalign{ pt_{1} &= (\matrix{0 & 0 & 0})\\ pt_{2} &= (\matrix{1 & 0 & 0})\\ pt_{3} &= (\matrix{1 & 1 & 0})\\ pt_{4} &= (\matrix{0 & 1 & 0})\\ }\) Unit-square in 3 dimensions

So, you would be correct to surmise that in order to perform this same \(xy\) rotation about the \(z-axis\) in three dimensions, we simply need to begin with a \(3 \times 3\) identity matrix before we add the \(xy\) rotation.

\( R_z = \left\lbrack \matrix{ \phantom{-}\cos \Theta & \sin \Theta & 0 \\ -\sin \Theta & \cos \Theta & 0 \\ 0 & 0 & 1 } \right\rbrack \) Rotate about z-axis

We can also adjust the rotation matrix to perform a rotation about the \(x\) and \(y\) axis, respectively:

R_x = \( \left\lbrack \matrix{ 1 & 0 & 0 \\ 0 & \phantom{-}\cos \Theta & \sin \Theta \\ 0 & -\sin \Theta & \cos \Theta } \right\rbrack \) Rotate about x-axis
\( R_y = \left\lbrack \matrix{ \cos \Theta & 0 & -\sin \Theta\\ 0 & 1 & 0 \\ \sin \Theta & 0 & \phantom{-}\cos \Theta } \right\rbrack \) Rotate about y-axis

Composite Transform Matrices

I mentioned that it is possible to combine a sequence of matrix transforms into a single matrix. This is highly desirable, considering that every point in an object model needs to be multiplied by the transform. What I demonstrated up to this point is how to individually create each of the transform types, translate, scale and rotate. Technically, the translate operation, \(V'=V+D\) is not a linear transformation because it is not composed within a matrix. Before we can continue, we must find a way to turn the translation operation from a matrix add to a matrix multiplication.

It turns out that we can create a translation operation that is a linear transformation by adding another row to our transformation matrix. However, a transformation matrix must be square because it starts with the identity matrix. So we must also add another column, which means we now have a \(4 \times 4\) matrix:

\(T = \left\lbrack \matrix{1 & 0 & 0 & 0\\ 0 & 1 & 0 & 0\\ 0 & 0 & 1 & 0\\ t_x & t_y & t_z & 1 }\right\rbrack\)

A general transformation matrix is in the form:

\( \left\lbrack \matrix{ a_{11} & a_{12} & a_{13} & 0\\ a_{21} & a_{22} & a_{23} & 0\\ a_{31} & a_{32} & a_{33} & 0\\ t_x & t_y & t_z & 1 }\right\rbrack\)

Where \(t_x\),\(t_y\) and \(t_z\) are the final translation offsets, and the sub-matrix \(a\) is a combination of the scale and rotate operations.

However, this matrix is not compatible with our existing point definitions because they only have three components.

Homogenous Coordinates

The final piece that we need to finalize our geometry representation and coordinate management logic is called Homogenous Coordinates. What this basically means, is that we will add one more parameter to our vector definition. We refer to this fourth component as, \(w\), and we initially set it to \(1\).

\(V(x,y,z,w) = [\matrix{x & y & z & 1}]\)

Our vector is only valid when \(w=1\). After we transform a vector, \(w\) has often changed to some other scale factor. Therefore, we must rescale our vector back to its original basis by dividing each component by \(w\). The equations below show the three-dimensional Cartesian coordinate representation of a vector, where \(w \ne 0\).

\( \eqalign{ x&= X/w \\ y&= Y/w \\ z&= Z/w }\)

Creating a Composite Transform Matrix

We now possess all of the knowledge required to compose a linear transformation sequence that is stored in a single, compact transformation matrix. So let's create the rotation sequence that we discussed earlier. We will a compose a transform that translates an object to the origin, rotates about the \(z-axis\) then translates the object back to its original position.

Each individual transform matrix is shown below in the order that it must be multiplied into the final transform.

\( T_c R_z T_o = \left\lbrack \matrix{ 1 & 0 & 0 & 0 \\ 0 & 1 & 0 & 0 \\ 0 & 0 & 1 & 0 \\ -t_x & -t_y & -t_z & 1 \\ } \right\rbrack \left\lbrack \matrix{ \phantom{-}\cos \Theta & \sin \Theta & 0 & 0 \\ -\sin \Theta & \cos \Theta & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \\ } \right\rbrack \left\lbrack \matrix{ 1 & 0 & 0 & 0 \\ 0 & 1 & 0 & 0 \\ 0 & 0 & 1 & 0 \\ t_x & t_y & t_z & 1 \\ } \right\rbrack \)

Here, values are selected and the result matrix is calculated:

\(t_x = 0.5, t_y = 0.5, t_z = 0.5, \Theta = 45°\)

\( \eqalign{ T_c R_z T_o &= \left\lbrack \matrix{ 1 & 0 & 0 & 0 \\ 0 & 1 & 0 & 0 \\ 0 & 0 & 1 & 0 \\ -0.5 & -0.5 & -0.5 & 1 \\ } \right\rbrack \left\lbrack \matrix{ 0.707 & 0.707 & 0 & 0 \\ -0.707 & 0.707 & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \\ } \right\rbrack \left\lbrack \matrix{ 1 & 0 & 0 & 0 \\ 0 & 1 & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0.5 & 0.5 & 0.5 & 1 \\ } \right\rbrack \\ \\ &=\left\lbrack \matrix{ \phantom{-}0.707 & 0.707 & 0 & 0 \\ -0.707 & 0.707 & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0.5 & -0.207 & 0 & 1 \\ } \right\rbrack }\)

It is possible to derive the final composite matrix by using algebraic manipulation to multiply the transforms with the unevaluated variables. The matrix below is the simplified definition for \(T_c R_z T_o\) from above:

\( T_c R_z T_o = \left\lbrack \matrix{ \phantom{-}\cos \Theta & \sin \Theta & 0 & 0 \\ -\sin \Theta & \cos \Theta & 0 & 0 \\ 0 & 0 & 1 & 0 \\ (-t_x \cos \Theta + t_y \sin \Theta + t_x) & (-t_x \sin \Theta - t_y \cos \Theta + t_y) & 0 & 1 \\ } \right\rbrack\)

Projection Transformation

The last thing to do, is to convert our 3D model into an image. We have three-dimensional coordinates, that must be mapped to a two-dimensional surface. To do this, we will project a view of our world-space onto a flat two-dimensional screen. This is known as the "projection transformation" or "projection matrix".

Coordinate Systems

It may be already be apparent, but if not I will state it anyway; a linear transformation is a mapping between two coordinate systems. Whether we translate, scale or rotate we are simply changing the location and orientation of the origin. We have actually used the origin as our frame of reference, so our transformations appear to be moving our geometric objects. This is a valid statement, because the frame of reference determines many things.

We need a frame of reference that can be used as the eye or camera. We call this frame of reference the view space and the eye is located at the view-point. In fact, up to this point we have also used two other vector-spaces, local space (also called model space and world space. To be able to create our projection transformation, we need to introduce one last coordinate space called screen space. Screen space is a 2D coordinate system defined by the \(uv-plane\), and it maps directly to the display image or screen.

The diagram below depicts all four of these different coordinate spaces:

Coordinate Spaces

The important concept to understand, is that all of these coordinate systems are relatively positioned, scaled, and oriented to each other. We construct our transforms to move between these coordinate spaces. To render a view of the scene, we need to construct a transform to go from world space to view space.

View Space

The view space is the frame of reference for the eye. Basically, our view of the scene. This coordinate space allows us to transform the world coordinates to a position relative to our view point. This makes it possible for us to create a projection of this visible scene onto our view plane.

We need a point and two vectors to define the location and orientation of the view space. The method I demonstrate here is called the "eye, at, up" method. This is because we specify a point to be the location of the eye, a vector from the eye to the focal-point, at, and a vector that indicates which direction is up. I like this method because I think it is an intuitive model for visualizing where your view-point is located, how it is oriented, and what you are looking at.

View Spaces

Right or Left Handed?

The view space is a left-handed coordinate system, which differs from the right-handed coordinate systems that we have used up to this point. In math and physics, right-handed systems are the norm. This places the \(y-axis\) up, and the \(x-axis\) pointing to the right (same as the classic 2D Cartesian grid), and the resulting \(z-axis\) will point toward you. For a left-handed space, the positive \(z-axis\) points into the paper. This makes things very convenient in computer graphics, because \(z\) is typically used to measure and indicate depth.

You can tell which type of coordinate system that you have created by taking your open palm and pointing it perpendicularly to the \(x-axis\), and your palm facing the \(y-axis\). The positive \(z-axis\) will point in the direction of your thumb, based upon the direction your coordinate space is oriented.

Let's define a simple view space transformation.

\( \eqalign{ eye&= [\matrix{2 & 3 & 3}] \\ at&= [\matrix{0 & 0 & 0}] \\ up&= [\matrix{0 & 1 & 0}] }\)

Simple Indeed.

From this, we can create a view located at \([\matrix{2 & 3 & 3}]\) that is looking at the origin and is oriented vertically (no tilt to either side). We start by using the vector operations, which I demonstrated in my previous post, to define vectors for each of the three coordinate axes.

\( \eqalign{ z_{axis}&= \| at-eye \| \\ &= \| [\matrix{-2 & -3 & -3}] \| \\ &= [\matrix{-0.4264 & -0.6396 & -0.6396}] \\ \\ x_{axis}&= \| up \times z_{axis} \| \\ &=\| [\matrix{-3 & 0 & 2}] \|\\ &=[\matrix{-0.8321 & 0 & 0.5547}]\\ \\ y_{axis}&= \| z_{axis} \times x_{axis} \| \\ &= [\matrix{-0.3547 & -0.7687 & -0.5322}] }\)

We now take these three vectors, and plug them into this composite matrix that is designed to transform world space to a new coordinate space defined by axis-aligned unit vectors.

\( \eqalign { T_{view}&=\left\lbrack \matrix{ x_{x_{axis}} & x_{y_{axis}} & x_{z_{axis}} & 0 \\ y_{x_{axis}} & y_{y_{axis}} & y_{z_{axis}} & 0 \\ z_{x_{axis}} & z_{y_{axis}} & z_{z_{axis}} & 0 \\ -(x_{axis} \cdot eye) & -(y_{axis} \cdot eye) & -(z_{axis} \cdot eye) & 1 \\ } \right\rbrack \\ \\ &=\left\lbrack \matrix{ -0.8321 & -0.3547 & -0.4264 & 0 \\ 0 & -0.7687 & -0.6396 & 0 \\ -0.5547 & -0.5322 & -0.6396 & 0 \\ 3.3283 & 4.6121 & 4.6904 & 1 \\ } \right\rbrack }\)

Gaining Perspective

The final step is to project what we can see from the \(eye\) in our view space, onto the view-plane. As I mentioned previous, the view-plane is commonly referred to as the \(uv-plane\). The \(uv\) coordinate-system refers to the 2D mapping on the \(uv-plane\). The projection mapping that I demonstrate here places the \(uv-plane\) some distance \(d\) from the \(eye\), so that the view-space \(z-axis\) is parallel with the plane's normal.

The \(eye\) is commonly referred to by another name for the context of the projection transform, it is called the center of projection. That is because this final step, basically, projects the intersection of a projected vector onto the \(uv-plane\). The projected vector originates at the center of projection and points to each point in the view-space.

Perspective Intersection

The cues that let us perceive perspective with stereo-scopic vision is called, fore-shortening. This effect is caused by objects appearing much smaller as they are further from our vantage-point. Therefore, we can recreate the foreshortening in our image by scaling the \(xy\) values based on their \(z\)-coordinate. Basically, the farther away an object is placed from the center of projection, the smaller it will appear.

Scaling based on distance

The diagram above shows a side view of the \(y\) and \(z\) axes, and is parallel with the \(x-axis\). Notice the have similar triangles that are created by the view plane. The smaller triangle on the bottom is the distance \(d\), which is the distance from the center of projection to the view plane. The larger triangle on the top extends from the point \(Pv\) to the \(y-axis\), this distance is the \(z\)-component value for the point \(Pv\). Using the property of similar triangles we now have a geometric relationship that allows us to scale the location of the point for the view plane intersection.

\(\frac{x_s}d = \frac{x_v}{z_v}\)

\(\frac{y_s}d = \frac{y_v}{z_v}\)

\(x_s = \frac{x_v}{z_v/d}\)

\(y_s = \frac{y_v}{z_v/d}\)

With this, we can define a perspective-based projection transform:

\( T_{project}=\left\lbrack \matrix{ 1 & 0 & 0 & 0 \\ 0 & 1 & 0 & 0 \\ 0 & 0 & 1 & 1/d \\ 0 & 0 & 0 & 0} \right\rbrack \)

This is now where the homogenizing component \(w\) returns. This transform will have the affect of scaling the \(w\) component to create:

\( \eqalign{ X&= x_v \\ Y&= y_v \\ Z&= z_v \\ w&= z_v/d }\)

Which is why we need to access these values as shown below after the following transform is used:

\( \eqalign{ [\matrix{X & Y & Z & w}] &= [\matrix{x_v & y_v & z_v & 1}] T_{project}\\ \\ x_v&= X/w \\ y_v&= Y/w \\ z_v&= Z/w }\)

Scale the Image Plane

Here is one last piece of information that I think you will appreciate. The projection transform above defines a \(uv\) coordinate system that is \(1 \times 1\). Therefore, if you make the following adjustment, you will scale the unit-plane to match the size of your final image in pixels:

\( T_{project}=\left\lbrack \matrix{ width & 0 & 0 & 0 \\ 0 & height & 0 & 0 \\ 0 & 0 & 1 & 1/d \\ 0 & 0 & 0 & 0} \right\rbrack \)


We made it! With a little bit of knowledge from both Linear Algebra and Trigonometry, we have been able to construct and manipulate geometric models in 3D space, concatenate transform matrices into compact and efficient transformation definitions, and finally create a projection transform to create a two-dimensional image from a three-dimensional definition.

As you can probably guess, this is only the beginning. There is so much more to explore in the creation of computer graphics. Some of the more interesting topics that generally follow after the 3D projection is created are:

  • Shading Models: Flat, Gouraud and Phong.
  • Shadows
  • Reflections
  • Transparency and Refraction
  • Textures
  • Bump-mapping ...

The list goes on and on. I imagine that I will continue to write on this topic and address polygon fill algorithms and the basic shading models. However, I think things will be more interesting if I have code to demonstrate and possibly an interactive viewer for the browser. I have a few demonstration programs written in C++ for Windows, but I would prefer to create something that is a bit more portable.

Once I decide how I want to proceed I will return to this topic. However, if enough people express interest, I wouldn't mind continuing forward demonstrating with C++ Windows programs. Let me know what you think.


Watt, Alan, "Three-dimensional geometry in computer graphics," in 3D Computer Graphics, Harlow, England: Addison-Wesley, 1993

Foley, James, D., et al., "Geometrical Transformations," in Computer Graphics: Principles and Practice, 2nd ed. in C, Reading: Addison-Wesley, 1996

When are we gonna learn?

communication, CodeProject, design, knowledge, engineering Send feedback »

As you gain expertise you begin to realize how little you actually know and understand. I have found this to be true of most skills. It’s easy to fall into the trap where you believe that you continue to grow your expertise each year, and thus have less and less to learn. Read on and I will demonstrate what I mean.

Full story »

C++: enable_if

CodeProject, C++, knowledge 3 feedbacks »

A few weeks ago I wrote an entry on SFINAE[^], and I mentioned enable_if. At that point I had never been able to successfully apply enable_if. I knew this construct was possible because of SFINAE, however, I was letting the differences between SFINAE and template specialization confuse me. I now have a better understanding and wanted to share my findings.

Full story »

I Found "The Silver Bullet"!

general, leadership, communication, CodeProject, maintainability, knowledge Send feedback »

I found the metaphorical Silver Bullet that everyone has been searching for in software development and it worked beautifully on my last project. Unfortunately, I only had one of them. I am pretty sure that I could create another one if I ever have to work with a beast that is similar to my last project. However, I don't think that my bullet would be as effective if the circumstances surrounding the project varies too much from my original one.

Full story »

Why Computers Haven't Replaced Programmers

general, CodeProject, knowledge Send feedback »

When I first started my college education to become a Computer Scientist (Programmer) an ignorant acquaintance of mine told me with some uncertainty, "Computer programming, don't they have computers write the programs now?" I thought he may have been thinking of the compiler. Alas, no. He continued to become more certain, while he told me that computers were writing programs now, and in ten years I wouldn't be able to find a job. I no longer know this person, and I, along with millions of other programmers make a living writing computer programs. Why aren't computers writing these programs for us?

Full story »

How I Avoid Making Mistakes

general, CodeProject, knowledge Send feedback »

No one likes to be wrong, except maybe the class clown; even then, I'm sure they don't like it if their incorrect answer does not get any laughs from the others. I especially hate when someone breaks the build, and the cause turns out to be a change that I made. I learned long ago not to try to chase perfection. However, I also learned there are many things that can be done to improve productivity and success.

Full story »

Contact / Help. ©2019 by Paul Watt; Charon adapted from work by daroz. blog software / best hosting.
Design & icons by N.Design Studio. Skin by Tender Feelings / Evo Factory.