Basic mathematics for geometric

modeling
 Coordinate Reference Frames
Cartesian Coordinate (2D)
y

(x, y)

Polar coordinate
r

Relationship : polar & cartesian
Y
P P
y
r r

y
x
x x

Use trigonometric, polar cartesian

x = r cos , y = r sin

Cartesian polar

r = x2 + y2, = tan-1 (y/x)

3D cartesian coordinates
y
y

x x

z
z

Right-handed 3D coordinate system

 POINT
The simplest of geometric object.
No length, width or thickness.
Location in space
Defined by a set of numbers (coordinates)
e.g P = (x, y) or P = (x, y, z)
Vertex of 2D/ 3D figure
 VECTOR
distance and direction
Does not have a fixed location in space
Sometime called displacement.
 VECTOR
Can define a vector as the difference
between two point positions.
y
y2 Q
V
y1
P
x
x1 x2
V=QP
= (x2 x1, y2 y1)
= (Vx, Vy) Component form
Also can be expressed as
V = Vxi + Vyj
 VECTOR : magnitude &
direction
Calculate magnitude using the Pythagoras
theorem distance
|V| = Vx2 + Vy2
Direction
= tan-1 (Vy/Vx)
 VECTOR : magnitude &
direction
V Q
Example 1
If P(3, 6) and Q(6, 10). Write vector V in
component form.
Answer
V = [6 - 3, 10 6]
= [3, 4]
 VECTOR : magnitude &
direction
Example 1 (cont)
Compute the magnitude and direction of
vector V
Answer
Magnitud |V| = 32 + 42
= 25 = 5
Direction = tan-1 (4/3) = 53.13
 Unit Vector
As any vector whose magnitude is equal to
one
V= V
|V|
The unit vector of V in example 1 is
= [Vx/|V| , Vy/|V|]
= [3/5, 4/5]
 VECTOR : 3D
y
Vector Component
(Vx, Vy, Vz) Vy V
x
Magnitude Vz
|V| = Vx2 + Vy2 + Vz2 Vx
z
Direction
= cos-1(Vx/|V|), = cos-1(Vy/|V|), =cos-1(Vz/|V|)
Unit vector
V = V = [Vx/|V|, Vy/|V|, Vz/|V|]
|V|
 Scalar Multiplication
kV = [kVx, kVy, kVz]
If k = +ve V and kV are in the same direction
If k = -ve V and kV are in the opposite
direction
Magnitude |kV| = k|V|
 Scalar Multiplication
Base on Example 1
If k = 2, find kV and the magnitudes

Answer
kV = 2[3, 4] = [6, 8]
Magnitude |kV|= 62 + 82 = 100 = 10
= k|V| = 2(5) = 10
 Vector Addition
y y
V
V U+V

U U
x x

Sum of two vectors is obtained by adding

corresponding components
U = [Ux, Uy, Uz], V = [Vx, Vy, Vz]
U + V = [Ux + Vx, Uy + Vy, Uz + Vz]
 Vector Addition
Q

P P

Q
Example
If vector P=[1, 5, 0], vector Q=[4, 2, 0]. Compute
P+Q

answer
P + Q = [1+4, 5+2, 0+0] = [5, 7, 0]
 Vector Addition & scalar
multiplication properties
U+V=V+U
T + (U + V) = (T + U) + V
k(lV) = klV
(k + l)V = kV + lV
k(U + V) = kU + kV
 Scalar Product
Also referred as dot product or inner product
Produce a number.
Multiply corresponding components of the two
vectors and add the result.
If vector U = [Ux, Uy, Uz], vector V = [Vx, Vy,
Vz]
U . V = UxVx + UyVy + UzVz
 Scalar Product.
Example
If vector P=[1, 5, 0], vector Q=[4, 2, 0].
Compute P . Q

answer
P . Q = 1(4) + 5(2) + 0(0)
= 14
 Scalar Product properties
U.V = |U||V|cos
angle between two vectors U

= cos 1 (U.V) V
|U||V|
Example
Find the angle between vector
b=(3, 2) and vector c = (-2, 3)
 Scalar Product properties
Solution
b.c = (3, 2). (-2, 3)
3(-2) + 2(3) = 0
|b| = 32 + 22 = 13 = 3.61
|c| = (-2)2 + 32 = 13 = 3.61
= cos 1 ( 0/(3.61((3.61))
= cos 1 ( 0 ) = 90
 Scalar Product properties
If U is perpendicular to V, U.V = 0
U.U = |U|2
U.V = V.U
U.(V+W) = U.V + U.W
(kU).V = U.(kV)
 Vector Product
Also called the cross product
Defined only for 3 D vectors
Produce a vector which is perpendicular to
both of the given vectors.
y
c=axb
c

b x

z a
 Vector Product
To find the direction of vector C, use righ-
hand rules

C
B x
B x
z A
C
z A
 Vector Product
To find the direction of vector C, use righ-
hand rules BxA
AxB

C
x
x
z B
A
z B C
A
 exercise
Find the direction of vector C, (keluar skrin atau
kedalam skrin)

AxB Q
B PxQ
P
A
O
MxN LxO
M
N L
 Vector Product
If vektor A = [Ax, Ay, Az], vektor B = [Bx, By, Bz]
AxB= i j k i j
Ax Ay Az Ax Ay
Bx By Bz Bx By
= [ (AyBz-AzBy), (AzBx-AxBz), (AxBy-AyBx)]
 Vector Product
P
Example Q
If P=[1, 5, 0], Q=[4, 2, 0]. Compute P x Q
Solution
PxQ= i j k i j
1 5 0 1 5
4 2 0 4 2
= [ (5.(0)-0.(5)), (0.(4)-1.(0)), (1.(2)-5.(4))]
= [ 0, 0, -18]
 Vector Product
Properties
U x V = |U||V|n sin where n = unit vector
perpendicular to both U and V
U x V = -V x U
U x (V + W) = U x V+ U x W
If U is parallel to V, U x V = 0
UxU=0
kU x V = U x kV