Surfaces

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Polynomial Curves
Bezier, Hermite, Polynomial of degree n Example (cubic Bezier curve)
q T (u ) = (u 3 u 2 b u1 1 3 - 3 3 - 6 3 1) - 3 3 0 1 0 0 ( 1 p1 )1 0(p 2 )1 0(p3 )1 0(p 4 )1

(p1 )2 (p 2 )2 (p3 )2 (p 4 )2

(p1 )3 (p 2 )3 (p3 )3 (p 4 )3
Bi (u ) (pi )j

Or equivalently (see Buss, VII.1)

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q j (u ) =

Splines: Piecewise Curves

Catmull-Rom, B-spline, Interpolate or approximate control points by assembling polynomial curves. Example (Catmull-Rom spline):
Piecewise cubic Interpolates input points p1, p2, , pn. Unlike Bezier, there can be more than four points C1 (tangent line) continuity More details (Buss, VII.15.1)
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Example: Uniform B-spline

Piecewise cubic Approximates input points. Unlike Bezier, there can be more than four points Unlike Camtull-Rom, it does not interpolate C2 (curvature) continuity

Algebraic construction (Buss, VIII.1)

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B-spline: Geometric Construction

equality C2 (curvature) continuity

midpoint

midpoint

midpoint C1 (tangent line) continuity Bezier A Bezier B

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B-spline: Proof
Proof of Bezier C2 continuity via Subdivision/de Casteljau construction

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B-spline
B-spline control points are black squares Control points for two Bezier curves are circles

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Converting between Bzier & BSpline

original control points as Bzier new BSpline control points to match Bzier

new Bzier control points to match BSpline

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original control points as BSpline

Conversion: Analytic Form

From B-spline control points to Bezier control points. Slide Gs as a window of four B-spline points to obtain control points for each Bezier curve.
1 1 0 Gb = 6 0 0 4 1 0 4 2 0 G s 2 4 0 1 4 1

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Surfaces
Swept Surfaces
Surfaces of revolution General surfaces

Tensor-Product Surfaces

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Surfaces of Revolution
Rotate a 2D profile curve around and axis.
q

s(u, q)

q (u )
s(u, q) = R (q)q(u )

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Surface Normal Vectors

Normal vectors are needed for shading
Normal vector perpendicular to tangent plane Tangent plane spanned by partial derivatives So:

s(u, v) s(u, v) r n(u, q) = normalize u v

In the special case of surface of revolution:

r n(u, q) = R(q) normal(q(u))

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General Sweep Surfaces

Trace out surface by moving a profile curve along a trajectory. Orientation options:
Align profile curve with an axis. Align profile curve with a Frenet frame. Analytic form uses a matrix and a trajectory to transform the profile curve:

s(u, v) = M (c(u ))q(u )

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Bezier Tensor Products

Use a 4x4 grid of control pij points to build a surface:
Use the four rows as control points for four Bezier curves: q 0 (u ), q1 (u ), q 2 (u ), q3 (u ) Define a point on the surface s(u,v) by evaluating another Bezier curve (for parameter v) using the four control points defined by for row Bezier curves (for some value u).

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Bezier Tensor Products

s(u , v) = CB(... CB(p 00 , p 01 , p 02 , p 03 , u ), CB(p10 , p11 , p12 , p13 , u ), CB(p 20 , p 21 , p 22 , p 23 , u ), CB(p30 , p31 , p32 , p33 , u ), v)

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Basis Form
Derivation (Buss VII.10)
s(u, v) =

curve basis

Bi (u ) B j (v)pij

i= 0 j = 0

Tensor-product basis by definition of the tensor product: Bij (u , v) = Bi (u ) B j (v)

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surface basis

Matrix Form
First coordinate only:
p 00 ) L ( 1 (s(u, v))1 = (B0 (u ) B1 (u ) B2 (u ) B3 (u )) M O p ( 30 )1 L 3 v 2 v T 1)B bezier P1B bezier v 1 0 ( v ) B (p03 )1 B1 (v) M B (v) 2 (p33 )1 B3 (v)

= (u 3 u 2

u1

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Tensor-Product B-splines
Use a mxm grid of control points. Composed of of many Bezier surface patches. The (k,l) patch:
s kl (u, v) =

N i (u ) N j (v)pij

i= 0 j = 0

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What You Should Know To Do

List definitions and properties of polynomial curves, splines, B-splines, surfaces of revolution, generalized sweep surfaces, tensor-product surfaces. List definitions of C and G continuity and recognize differences visually. Derive analytic expressions for polynomial curves and spline from constraints indicating locations, tangents, and continuity. Evaluate Bezier and B-splines with geometric construction. Display polynomial curves and splines using line segments.
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