17 Curves

Curves and Surfaces
CMPT 361
Introduction to Computer Graphics
Torsten Mller
Machiraju/Zhang/Mller
Rendering Pipeline
Hardware
Modelling
Transform
Visibility
Illumination +
Shading
Perception,
Texture/
Color
Interaction
Realism
Reading
Angel Chapter 10
Foley et al. - Chapter 11
Today
Polynomials
Parametric representation
Fairness vs. smoothness
Parametric vs. geometric continuity
Hermite spline
Bezier spline
B-Spline
Surfaces
Subdivision Machiraju/Zhang/Mller
Filling a gap
So far, we have focused on lines, flat
polygons, and simple objects, e.g., spheres
Missing: freeform curves and surfaces
Although smooth curves and surfaces are
converted to polygonal curves and meshes
when rendered, they still provide a good
option for modeling
We follow the text loosely
[Zorin 01]
Why curves and surfaces?

Natural to use for modeling of smooth shapes,
e.g.,
Body of an automobile
Shape of cartoon characters (Shrek)
Motion curves in animation, etc.
http://www.shrek2.com/
Smoothness can often be
guaranteed analytically
Compact (analytical) representation
Theory of smooth curves and surfaces, e.g.,
from calculus and differential geometry, is well Machiraju/Zhang/Mller
developed
Polynomial curves and surfaces

In computer graphics, we prefer curves and
surfaces represented by polynomials
Approximation power: Can approximate any
continuous function to any accuracy
(WeierstrasssTheorem)
Can offer local control for shape design through
the use of piecewise polynomials
All derivatives and integrals are available
(infinitely smooth) and easy to compute
Compact representation
Efficient evaluation
e.g., Horners rule
Horners rule
Consider a cubic polynomial
b(t) = at3 + bt2 + ct + d
Straightforward way to evaluate b(t) takes 6
multiplications and 3 additions
Horners Rule:
b(t) = ((a * t + b) * t + c) * t + d
It takes 3 additions and 3 multiplications. In
general, n +s and n *s for polynomial with
degree = n.
Curve & surface representation

Explicit: y = f(x), z = f(x, y)
Implicit (level-set): f(x,y) = 0, f(x, y, z) = 0
Parametric:
2D planar curve segment:
(x(t), y(t)), t [0, 1]
3D space curve segment:

(x(t), y(t), z(t)), t [0, 1]
3D parametric surface patch:

(x(u, v), y(u, v), z(u, v)), u, v [0, 1]
Basis Functions
http://terpconnect.umd.edu/~petersd/interp.html
10
Piecewise polynomial curves

Consider the problem of polynomial
interpolation:
High-degree
interpolation
Piece-wise cubic
interpolation
11
Today
Polynomials
Hermite spline
Bezier spline
B-Spline
Surfaces
12

Smoothness of curves and surfaces:
Local property: often achieved by design
Related to existence and continuity of various
derivatives,
e.g., f(x) = 3x100 9x2 + + 1 is infinitely smooth,
but is it visually pleasing?
Fairness (often appears in CAGD literature)

Global property: often achieved by some form of
energy minimization
Related to the energy of a curve or surface
e.g., f(x) = 3x100 9x2 + + 1 has high bending
energy, and is not Machiraju/Zhang/Mller
very visually pleasing
13
Parametric cubic curves

Let us focus on parametric curves for now
Generalization to surfaces is quite straightforward
Questions: what degree (of the polynomials) to
use?
Degree 0 2 (constant, linear, or quadratic): often has
too little flexibility
High-degree: unnecessarily complex and easy to
introduce undesirable wiggles (most objects we want
to model using curves and surfaces are somewhat
fair) fairness vs. smoothness
Most commonly used in graphics: parametric cubic
(degree-3) curves and surfaces
14
Parametric cubic segment

Consider a single piece:
x(t) = a3t3 + a2t2 + a1t + a0
y(t) = b3t3 + b2t2 + b1t + b0
z(t) = c3t3 + c2t2 + c1t + c0
In matrix form:
T is said to be the monomial basis

15
Derivatives and continuity

1st-order derivative of (x(t), y(t)): (x(t), y(t))
tangent
2nd-order derivative: (x(t), y(t)) related to
curvature
Parametric continuity of a curve (smoothness of
motion):
C0 continuous: curve is joined or connected

C1: requires C0 & 1st-order derivative is continuous
C2: requires C0 & C1 & 2nd-order derivative is cont.
n
0
C : requires C & & Cn1 & nth derivative cont.
16
Continuity of piecewise
polynomials
A single polynomial segment is always C
But we mostly deal with piecewise polynomial
curves
Key: what happens at the joints between segments
C0: curve segments are connected
C1: C0 & 1st-order derivatives agree at joints
C2: C0 & C1 & 2nd-order derivative agree at joints, etc.
If Ci is not possible to enforce, can relax a bit

Visual smoothness: direction of tangents stays the
same but magnitude (speed) may change
17
Geometric continuity
geometric continuity
G0 cont.: curve segments are connected (same as C0)
G1: G0 & 1st-order derivatives are proportional at joints.
Note:
Proportional = same direction but may have different
magnitudes
Weaker than C1
G2: G1 & 2nd-order derivative proportional at joints
Example: p(t) = (3t, t3) and q(t) = (4t+3, 2t2+4t+1)

with t [0, 1] for each. Is this C0, G1, and/or C1?
p(1)=q(0)=(3,1), so G0; p(1)=(3,3) and q(0)=(4,4), so
1
1
G not C
18
On to curve design
We want to design piecewise cubic polynomial curves
that satisfy certain design constraints, e.g.,
Curve should pass through certain points
Curve should have some given derivatives at specific points
Curve should be smooth: G1, C1, C2, or
Curve must be contained in certain area, or has at most this
length, etc.
Need proper basis functions to facilitate design process

These basis functions or blending functions blend
together the individual contributions of the control
points
19
Basis of cubic polynomials

Monomial basis: {1, t, t2, t3}, is only one
possibility
Recall basis:
x(t) = P1b1(t) + P2b2(t) + P3b3(t) + P4b4(t)
From design point of view, want P1, P2, P3, and P4
to represent observable quantities, e.g.,
Position: for interpolation
Derivatives: to control direction and smoothness, etc.
i.e., they are control points

Control points are blended by the basis functions;
they control the shape of the curve
20
Ex. 1: Hermite curves

Defined by two points (P1 and P4) and two
tangents (R1 and R4)
R
P
1
1
Aim: Achieve C or G continuity
P
Want cubic curve x(t),
R
t [0, 1], such that
Let us note that the
control points P1,
(y and z are similar)
1
P4, R1, and R4 are

all observable
quantities and they
control the shape of
the curve
x(0) = P1
x(1) = P4
x(0) = R1
x(1) = R4
21
Cubic Hermite curves

x(t) = TA = a3t3 + a2t2 + a1t + a0, where T =
[t3 t2 t 1] and A = [a3 a2 a1 a0]T. We want
So G = BA and thus A = B1G

It follows that x(t) = TA = TB1G = HG
22
Hermite curves
How to interpret this: x(t) = TA = TB1G = HG
G is a vector of observables or control points
H is vector of cubic Hermite bases (blending
polynomials)
For any G, use H to blend four control points to get
curve x(t)
The matrix Mhermite = B1 is really a change of basis
matrix: it changes the monomial basis T into the
Hermite basis H
Hermite curves are completely determined by
Mhermite
23
The cubic Hermite matrix
24
Piecewise Hermite curves

Can obviously enforce C1 or G1 continuity
at the joints
R1
R4
P4 = P1
P4
P1
R4 = kR1
Each segment parameterized over [0, 1], as

usual
25
Today
Polynomials
Hermite spline
Bezier spline
B-Spline
Surfaces
26
Ex. 2: Cubic Bzier curve

Defined by four control points P0, P1, P2, and P3
x(0) = P0
x(1) = P3
x(0) = 3(P1 P0)
x(1) = 3(P3 P2)
Convex hull property: Bzier curve lies within

the convex hull of the four control points
good control
Convex hull of a set of points on the plane:
tightest convex polygon
enclosing the set
27
Convex hull property

A cubic curve satisfies the convex hull property if
it lies within the convex hull of its four control
points
Convex hull property is satisfied if and only if the
basis polynomials B1(t), B2(t), B3(t), B4(t) satisfy:
1. 0 B1(t), B2(t), B3(t), B4(t) 1 for t [0, 1], and
2. B1(t) + B2(t) + B3(t) + B4(t) = 1
Then each point of the curve is a convex

combination of the control points
The basis Bi(t) form a partition of unity
28
The cubic Bzier matrix
29
Bzier basis polynomials

B0(t) = (1 t)3, B1(t) = 3t(1 t)2,
B2(t) = 3t2(1 t), B3(t) = t3
Well known as the Bernstein Polynomials of

degree 3
Bernstein polynomials of degree n
We have
Partition of unity easy to see:
i Bi(t) = [t + (1 t)]n
30
Piecewise Bzier curves

How to ensure C1 or G1 continuity for a
piecewise Bzier curve?
Each segment is parameterized over [0, 1]
P2
as usual
P6
P1
P3
P0
P5
P4
http://www.cs.princeton.edu/~min/cs426/jar/bezier.html
31
Ex 3. Cubic B-Spline curves

Most popular choice in computer graphics
They are C2 continuous this beats Hermite
and Bzier curves in terms of smoothness
The theory of B-splines is very rich
NURBS: nonuniform rational B-splines
Each component is rational: x(t)/w(t), etc.
Can be used to specify circles, etc.
32
Cubic B-Spline curves

Each cubic B-spline segment is specified by
four control points
Has the convex hull property
The cubic B-spline matrix:
33
Piecewise cubic B-splines

Two consecutive segments share three control
points
m control points m 3 segments
Each segment parameterized over [0, 1] as usual
Exercise: what if control points repeat? P8
P2
P1
P4
C1
C3
P5
P6
C4
C5
P7
C2
P3
http://www.cs.technion.ac.il/~cs234325/Applets/applets/bspline/GermanApplet.html
34
From curves to surfaces

One easy way: sweep a curve whose control
points also trace out some curves, e.g., bilinear
interpolation
Fit the simplest surface
between four points
Sweep a straight line and each
bilinear interpolation
point on the line traces a
straight line
Example of a ruled surface
Also an example of the more general class of
tensor-product surfaces
35
Tensor-product (TP) surfaces

The curve to sweep:
Control point ai goes through a curve
The resulting surface is a tensor-product
surface
Surface is controlled by the grid of control
points Pij
36
Ex. 1: TP cubic Bzier patch
The Bi(u)Bj(v)s form a basis for bi-cubic

polynomials
They also form a partition of unity the patch lies
within the convex hull of the 16 control points Pij
Patch can be seen as generated by sweeping a
Bzier curve where each point on the curve sweeps
out a Bzier curve
The four corner vertices are interpolated (easy to
see?)
37
Cubic Bzier surface patch
[Angel 02]
In matrix form:
http://www.math.psu.edu/dlittle/java/parametricequations/beziersurfaces/index.html
38
Ex. 2: TP cubic B-spline

surfaces
Analogues extension
of B-spline curves
N(u) and N(v) are the
cubic B-spline bases
16 control points per
bi-cubic B-spline patch
Satisfy the convex hull
property
39
Smoothness of Bzier surface

G1 continuity: make 2-sets of 4 control
points on either side of an edge collinear
C1 continuity: collinear and equally spaced
Collinear
control points
near patch boundary
40
Smoothness of B-spline
surface
C2 continuity is achieved if adjacent patches
share control points
41
Today
Polynomials
Hermite spline
Bezier spline
B-Spline
Surfaces
42
deCasteljau Recursion
We can use the convex hull property of
Bezier curves to obtain an efficient
recursive method that does not require any
function evaluations
Uses only the values at the control points
Based on the idea that any polynomial and

any part of a polynomial is a Bezier
polynomial for properly chosen control
data
43
Splitting a Cubic Bezier

p0, p1, p2, p3 determine a cubic Bezier
polynomial and its convex hull
Consider left half l(u) and right half r(u)

44
l(u) and r(u)

Since l(u) and r(u) are Bezier curves, we
should be able to find two sets of control
points {l0, l1, l2, l3} and {r0, r1, r2, r3} that
determine them
45
Convex Hulls
{l0, l1, l2, l3} and {r0, r1, r2, r3} each have a convex hull that
that is closer to p(u) than the convex hull of {p0, p1, p2, p3}
This is known as the variation diminishing property.
The polyline from l0 to l3 (= r0) to r3 is an approximation to
p(u). Repeating recursively we get better approximations.
46
Equations
Start with Bezier equations p(u)=uTMBp
l(u) must interpolate p(0) and p(1/2)
l(0) = l0 = p0
l(1) = l3 = p(1/2) = 1/8( p0 +3 p1 +3 p2 + p3 )
Matching slopes, taking into account that l(u)

and r(u) only go over half the distance as p(u)
l(0) = 3(l1 - l0) = p(0) = 3/2(p1 - p0 )
l(1) = 3(l3 l2) = p(1/2) = 3/8(- p0 - p1+ p2 + p3)
Symmetric equations
hold for r(u)
47
Efficient Form
l0 = p0
r3 = p3
l1 = (p0 + p1)
r1 = (p2 + p3)
l2 = (l1 + ( p1 + p2))
r1 = (r2 + ( p1 + p2))
l3 = r0 = (l2 + r1)
Requires only shifts and adds!
48
Every Curve is a Bezier Curve

We can render a given polynomial using the
recursive method if we find control points
for its representation as a Bezier curve
Suppose that p(u) is given as an
interpolating curve with control points q
p(u)=uTMIq
There exist Bezier control points p such that

p(u)=uTMBp
-1M
Equating and solving,
we
find
p=M
B
I
49
Matrices
Interpolating to Bezier
B-Spline to Bezier
50
Example
These three curves were all generated from
the same original data using Bezier
recursion by converting all control point
data to Bezier control points
Bezier
Interpolating
B Spline
51
Surfaces
Can apply the recursive method to surfaces if we
recall that for a Bezier patch curves of constant u (or
v) are Bezier curves in u (or v)
First subdivide in u
Process creates new points
Some of the original points are discarded
original and discarded
original and
kept
new
52
Second Subdivision
16 final points for

1 of 4 patches created
53
Normals
For rendering we need the normals if we
want to shade
Can compute from parametric equations
Can use vertices of corner points to determine

OpenGL can compute automatically
54
Utah Teapot
Most famous data set in computer graphics
Widely available as a list of 306 3D vertices
and the indices that define 32 Bezier patches
55
Subdivision Schemes
In order to draw a curve we need to find
points on it:
first idea - go step by step, i.e.:
56
Subdivision Schemes
Same for surfaces:
How can we find those new points?

What about triangles/arbitrary polygons?
57
Subdivision Schemes (2)
58
Loop
Guaranteed to be smooth everywhere except
at extraordinary vertices
Face Split
Triangular
meshes
approximating
59
Loop (2)
60
Loop - Boundary
Subdivision Mask for
Boundary Conditions
Vertex Rule
Edge Rule
61
Modified Butterfly
Face Split
Triangular
meshes
interpolating
62
Catmull-Clark
Face Split
Quad. Meshes
(extents to
arbitrary)
approximating
Masks for odd vertices
63
Catmull-Clark (2)
Face Split
Quad. Meshes
(extents to
arbitrary)
approximating
Masks for even vertices
64
Catmull-Clark (2)
FACE
EDGE
VERTEX
65
Kobbelt
Face Split
Quad. Meshes
interpolating
66
Kobbelt (2)
Mask for face vertex
adjacent to an
extraordinary vertex.
Two steps
The edge vertices
The face vertex
the edge odd control
point adjacent to an
extraordinary vertex
67
Doo-Sabin
Vertex Split
Quad. Meshes
interpolating or approximating??
68
Mid-Edge
Midedge, the simpler version of Doo-Sabin
scheme.
69
Doo-Sabin & Mid-Edge

The interior rules can be decomposed into a
sequence of averaging steps.
Doo-Sabin scheme
Midedge scheme
70
Subdivision Schemes
Butterfly
Loop
CatmullClark
Doo-Sabin
71
Modeling with Subdivision

Subdivision produces smooth continuous
surfaces.
How can sharpness and creases be controlled
in a modeling environment?
ANSWER: Define new subdivision rules for
creased edges and vertices.
Tag Edges sharp edges.
If an edge is sharp, apply
new sharp subdivision rules.
Otherwise subdivide with
normal rules. Machiraju/Zhang/Mller
72

17 Curves

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17 Curves

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Curves and Surfaces

Why curves and surfaces?

Polynomial curves and surfaces

Curve & surface representation

3D space curve segment:

3D parametric surface patch:

Piecewise polynomial curves

Fairness vs. smoothness

Fairness (often appears in CAGD literature)

Parametric cubic curves

Parametric cubic segment

T is said to be the monomial basis

Derivatives and continuity

C0 continuous: curve is joined or connected

If Ci is not possible to enforce, can relax a bit

G2: G1 & 2nd-order derivative proportional at joints

Example: p(t) = (3t, t3) and q(t) = (4t+3, 2t2+4t+1)

Need proper basis functions to facilitate design process

Basis of cubic polynomials

i.e., they are control points

Ex. 1: Hermite curves

P4, R1, and R4 are

Cubic Hermite curves

So G = BA and thus A = B1G

The cubic Hermite matrix

Piecewise Hermite curves

Each segment parameterized over [0, 1], as

Ex. 2: Cubic Bzier curve

Convex hull property: Bzier curve lies within

Convex hull property

Then each point of the curve is a convex

The cubic Bzier matrix

Bzier basis polynomials

Well known as the Bernstein Polynomials of

Piecewise Bzier curves

Ex 3. Cubic B-Spline curves

Cubic B-Spline curves

Piecewise cubic B-splines

From curves to surfaces

Tensor-product (TP) surfaces

Ex. 1: TP cubic Bzier patch

The Bi(u)Bj(v)s form a basis for bi-cubic

Cubic Bzier surface patch

Ex. 2: TP cubic B-spline

Smoothness of Bzier surface

Based on the idea that any polynomial and

Splitting a Cubic Bezier

Consider left half l(u) and right half r(u)

l(u) and r(u)

Matching slopes, taking into account that l(u)

Every Curve is a Bezier Curve

There exist Bezier control points p such that

16 final points for

Can use vertices of corner points to determine

first idea - go step by step, i.e.:

How can we find those new points?

Subdivision Schemes (2)

Doo-Sabin & Mid-Edge

Modeling with Subdivision

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