Matrix Rotations and Transformations

This example shows how to do rotations and transforms in 3D using Symbolic Math Toolbox™ and matrices.

Define and Plot Parametric Surface

Define the parametric surface x(u,v), y(u,v), z(u,v) as follows.

syms u v
x = cos(u)*sin(v);
y = sin(u)*sin(v);
z = cos(v)*sin(v);

Plot the surface using fsurf.

axis equal

Create Rotation Matrices

Create 3-by-3 matrices Rx, Ry, and Rz representing plane rotations by an angle t about the x-, y-, and z-axis, respectively.

syms t

Rx = [1 0 0; 0 cos(t) -sin(t); 0 sin(t) cos(t)]
Rx = 

(1000cos(t)-sin(t)0sin(t)cos(t))[sym(1), sym(0), sym(0); sym(0), cos(t), -sin(t); sym(0), sin(t), cos(t)]

Ry = [cos(t) 0 sin(t); 0 1 0; -sin(t) 0 cos(t)]
Ry = 

(cos(t)0sin(t)010-sin(t)0cos(t))[cos(t), sym(0), sin(t); sym(0), sym(1), sym(0); -sin(t), sym(0), cos(t)]

Rz = [cos(t) -sin(t) 0; sin(t) cos(t) 0; 0 0 1]
Rz = 

(cos(t)-sin(t)0sin(t)cos(t)0001)[cos(t), -sin(t), sym(0); sin(t), cos(t), sym(0); sym(0), sym(0), sym(1)]

Rotate About Each Axis in Three Dimensions

First, rotate the surface about the x-axis by 45 degrees counterclockwise.

xyzRx = Rx*[x;y;z];
Rx45 = subs(xyzRx, t, pi/4);

fsurf(Rx45(1), Rx45(2), Rx45(3))
title('Rotating by \pi/4 about x, counterclockwise')
axis equal

Rotate about the z-axis by 90 degrees clockwise.

xyzRz = Rz*Rx45;
Rx45Rz90 = subs(xyzRz, t, -pi/2);

fsurf(Rx45Rz90(1), Rx45Rz90(2), Rx45Rz90(3))
title('Rotating by \pi/2 about z, clockwise')
axis equal

Rotate about the y-axis by 45 degrees clockwise.

xyzRy = Ry*Rx45Rz90;
Rx45Rz90Ry45 = subs(xyzRy, t, -pi/4);

fsurf(Rx45Rz90Ry45(1), Rx45Rz90Ry45(2), Rx45Rz90Ry45(3))
title('Rotating by \pi/4 about y, clockwise')
axis equal

Scale and Rotate

Scale the surface by the factor 3 along the z-axis. You can multiply the expression for z by 3, z = 3*z. The more general approach is to create a scaling matrix, and then multiply the scaling matrix by the vector of coordinates.

S = [1 0 0; 0 1 0; 0 0 3];
xyzScaled = S*[x; y; z]
xyzScaled = 

(cos(u)sin(v)sin(u)sin(v)3cos(v)sin(v))[cos(u)*sin(v); sin(u)*sin(v); 3*cos(v)*sin(v)]

fsurf(xyzScaled(1), xyzScaled(2), xyzScaled(3))
title('Scaling by 3 along z')
axis equal

Rotate the scaled surface about the x-, y-, and z-axis by 45 degrees clockwise, in order z, then y, then x. The rotation matrix for this transformation is as follows.

R = Rx*Ry*Rz
R = 

(cos(t)2-cos(t)sin(t)sin(t)σ1cos(t)2-sin(t)3-cos(t)sin(t)sin(t)2-cos(t)2sin(t)σ1cos(t)2)where  σ1=cos(t)sin(t)2+cos(t)sin(t)[cos(t)^2, -cos(t)*sin(t), sin(t); cos(t)*sin(t)^2 + cos(t)*sin(t), cos(t)^2 - sin(t)^3, -cos(t)*sin(t); sin(t)^2 - cos(t)^2*sin(t), cos(t)*sin(t)^2 + cos(t)*sin(t), cos(t)^2]

Use the rotation matrix to find the new coordinates.

xyzScaledRotated = R*xyzScaled;
xyzSR45 = subs(xyzScaledRotated, t, -pi/4);

Plot the surface.

fsurf(xyzSR45(1), xyzSR45(2), xyzSR45(3))
title('Rotating by \pi/4 about x, y, and z, clockwise')
axis equal

Check Properties of Rotation Matrix R

Rotation matrices are orthogonal matrices. Thus, the transpose of R is also its inverse, and the determinant of R is 1.

ans = 

(100010001)[sym(1), sym(0), sym(0); sym(0), sym(1), sym(0); sym(0), sym(0), sym(1)]

ans = 1sym(1)