Geometric Transformations for 3D Modeling (CD-ROM in PDF)

Geometric Transformations for 3D Modeling, Second Edition

Michael E. Mortenson


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Written from a mathematical standpoint accessible to students, teachers, and professionals studying or practicing in engineering, mathematics, or physics, the new second edition of Geometric Transformations for 3D Modeling is a comprehensive introduction to the theory and application of transformations.


Presenting the more abstract foundation material in the first three chapters, Geometric Transformations in 3D Modeling reduces the clutter of theoretical derivation and development in the remainder of the text and introduces the operational and more application-oriented tools and concepts as the need arises. It assumes the reader has already taken analytic geometry and first-year calculus and has a working knowledge of basic matrix and vector algebra. This self-contained resource is sure to appeal to those working in 3D modeling, geometric modeling, computer graphics, animation, robotics, and kinematics.



  • Explores and develops the subject in much greater breadth and depth than other books, offering readers a better understanding of transformation theory, the role of invariants, the uses of various notation systems, and the relations between transformations.
  • Describes how geometric objects may change position, orientation, or even shape when subjected to mathematical operations, while properties characterizing their geometric identity and integrity remain unchanged.
  • Presents eigenvalues, eigenvectors, and tensors in a way that makes it easier for readers to understand.
  • Contains revised and improved figures, with many in color to highlight important features.
  • Provides exercises throughout nearly all of the chapters whose answers are found at the end of the book.


Requirements: The CD-ROM is compatible with most Microsoft Windows operating systems from Windows 98 to Windows 8 and 8 Pro. The product requires Adobe Reader or Adobe Acrobat. The CD-ROM should operate with corresponding Windows-compatible hardware, including desktops, notebooks, laptops, netbooks and tablet computers. Internet access is required for product activation. PLEASE NOTE: The CD-ROM version is not compatible with Windows 8 RT, smart phones and tablets including the iPhone, iPad, Android devices and/or ebook readers such as Kindle, Nook or the Sony Wi-Fi E-Reader. For such applications, check out the ebook version.

Michael E. Mortenson, a graduate of the UCLA School of Engineering, writes and does independent research in 3D geometric modeling and computer-aided design. He is a former research scientist with a major aerospace corporation and the author of several highly successful textbooks.



  • What Is Geometry
  • History
  • Geometric Objects
  • Space
  • Geometry Is…
  • E Pluribus Unum – Transformation and Invariance

Theory of Transformations

  • Functions, Mappings, and Transformations
  • Linear Transformations
  • Geometric Invariants
  • Isometries
  • Similarities
  • Affinities
  • Projectivities
  • Topological Transformations

Vector Spaces

  • Introduction to Linear Vector Spaces
  • Basis Vectors
  • Eigenvalues and Eigenvectors
  • Tensors

Rigid-Body Motion

  • Translation
  • Rotation
  • Composite Motion
  • Kinematics

Reflection and Symmetry

  • Central Inversion
  • Reflections in the Plane
  • Reflections in Space
  • Summary of Reflection Matrices
  • Symmetry Basics
  • Symmetry Groups
  • Ornamental Groups
  • Polygonal Symmetry and Tiling
  • Polyhedral Symmetry

More Linear Transformations

  • Isotropic Dilation
  • Anisotropic Dilation
  • Shear
  • Projective Geometry
  • Parallel Projection
  • Central Projection
  • Map Projections
  • Display Projection

Nonlinear Transformations

  • Linear and Nonlinear Equations
  • Inversion in a Circle
  • Curvilinear Coordinate Systems
  • Deformations
  • Answers to Selected Exercises