Les Piegl Wayne Tiller The NURBS Book i Second Eation with 34 Figures in 58 Pats serkin date New or adapt’ Hone ong a | Springer | |Pro De. Lat igh Univer ofSouts Flora Department of Compute Science snd Eagaerng ower Avent ENG ‘Tampa FLansto9y.USA Dr. Wayne Tiber soy6Ridgetop Road Tye THs 908, USA san 54.6548 ade Spiga Bela Hes Ne ok tats ospoa sted Senger Vo Ben Hedle Mee York SE eet ns cr-cihohn Fog thewuan ce eth were So Sa cohen Sting oi here nro hears terete ere ee emanates SEEE as cemcgemincnaarentorea Saat pea eaten ea ne Sel irate day Rytl gent dor un, gels ene toe cus Ses fa pee a at ch Eine uepctone tan poncvmudsgansnr eft ‘ryan othe memory of my mater Ann, and tomy father Sion bP. ‘Tomy grendmotber, Ferm Marae Dos, an oth meri of ‘ny aronpaens, James Raney Bos, Post Webs Tiler, and Alert Carl Tiler werFOREWORD all eety pn care aden (NURS) wr pic finer othe epee ga oman we ty ave beth tana cr Ss dctin Tsay we me song ped as of URS nln ce {re vol ayant Sel rn india eee [NURS ar wow ho eg ler ong somo itl aly npn, ‘That apts ie epee to ee Cama gue spit "The ARTRRS Bot tobe par ote Mone Vl Comsat Se pln ars and ue ave Sue a nung cat teh yo ‘esol ie Tos to ln af Mathoatind Bonet for Comper. Ops, [ablated in 12, wa the Got cmp ied daft Soyer ph {Seta ect marl on Dupin Tha meal wa eed ath te {od pms il Gordon Lo Knapp he hey mew a Src Unies ‘inperfmie, pesos! rng th Sumi a 9?» Sanyal Ate ‘nt Ye goss ong on compte et ip uta dg wa pay {he esto examine the we of bape avi i, lea atcation that sated Lae Pg nd Way Tiers ok ‘apy hey hve cgi a alae ed wth The ARES Bok doping the material fo he bon, they dow oh sone wee al exeree with NURS to athe aber comes set 8 ‘Screamer The pnts sess dat. Toe wry ‘thomas emt ith cera atc oad eth done ase‘ sigs (ty fi an te pene) we wl oh at 1 mail pega Inthe ters ferry, wc dee) the boa mw cpa puaed “a meatal ak Ty a cet td Instn be ‘Bn srs and sce eon thorn work of Pare Bk othe satya Peogs cme ea nr Dap en sateen st Te ees usando rata! Was se NORE, the pnd he Te in sont hy ate tal ome og Pal tol ppepnte to aSowig ny pear oig wth oth Les Pig ed Wagar tinge poet tenPREFACE. ‘Non Unies til Spay commealy reed to at NURBS, hte bce {hee fa nt stand fe repre, Sa ae encang o ‘mtn ration prc comptes May tl ud interna sta {ie 168, STEP, od PRIS, nie NURS ne power oor rete ‘Spa "Fis cormoc ncn Und NUR lg dof tha “MURS poi © uid mthnate ba fr rere Both sae ‘apes ohm on stale yl ae es, {MURS alate et nd url tbe tn sn ne ant, mato, pre sed pps rojo + NURS ws urine Bep sail dee ‘Teena mht ad alrite opr cnbned with scl an pean, ve conf te emt pala NUNES NUNES Hey SeST a CAD wr ini Beh gs “in prpnc sort bse tt esas pp he tue that tos ced the ty seit pv» ne one ‘paps del minty with the mathematics of splines, which stay camplex and requis ead whaling sith. Ts bok» sted a te wenge nges eb pl bean day ols math ot tinge Site iecuasucuskecees ale + raed the ale aatar andpd impertan en ‘Sout tah ba cma taal dcp noe ew ye + dlp cone NURS Hey, ced MU ¥80. ‘Th ‘vl, and ie cmbins ne and wold stare practices app feu son th we dae,+ ed ind im a tno eed nei eit {ip handrown gure co gar resect compel se ee ar pm opt al ofthe compen th ee 1) the Bok a (Totjttonve ree, 2) Mb we is re las oe ag 638 of ‘Sito and) orator wo ape te bck ath sous Ui irre tna th nh oat fete ha et hdd we te oly (act soutng tb nde at Popa) 115901800 tye rags, whch roughly eet Some yeas ago fw rears oted about NURS sayag that the acronym really sui Nosy Untostands Rata B Spee sit itu elas ei in i fry eed yh ea 1 Ee cng th ssyes NURS we EUS that Beeb Undestns ‘steel Spee cms hee opin aro and gps oo ‘tle prorancin Te kh hl tl te mt apa ‘hr tn presale Weoley Rag A At ul pind Dr ln er ia “emir hs bok int ev Te ss hn any mst apr calegus nny haere er cote meng ‘isumne able gi, speed gal snip The) aon who thy ue lg rel me nepord iapart te Ratonal Scenre oanaton tira GCI DTT ana othe Unrest Sth Pe ly ane ‘gato he Fa igh Teg a! ns Cone a 8s rn) Springing elt plat cone the Boo Apart being hcg na ole ‘rin tin 4 a 3 eel detain son 8.3, Woy Tier CONTENTS Cuapren Oxe Curve and Surface Basics Li Inpbt and Parameti rms 1 12 Power Base orm 2 Carve 5 13 Baler Carer 5 14 Rational Ber Carer % 15 Tensor Product Sra u Eres a CHapren Two B-Spline Basis Functions 21 Introduction « 22 Danio and Proper of apie Biss Fustnae o 23. Dermtins of Bie Bass Futetone = 24 Prther Propecia ofthe Base Panetine a 25 Campattionl Algseina or rere 8 (Cuapren Tanse Besplive Curves and Surfaces 21 Introduction 32 TheDetaton aad Propet of Bpiie Cares 21. The Derivatives a Bape Cure 4 Datniion and Proper of BsplieSuraes 34 Derivative of «Bee Sue Broce ‘Cuapren Four Rational Bpline Curves and Surfces 42 Delton and Propertie of NURBS Carns au 45. Deities of « NURBS Curve ms 44 Dinton and Properties of URS Surtaces 1 45 Dera of NURS Surface 136 rome ryCuapren FIVE Pundamental Geometric Algorithms SL teraction 82 Kot mere S| 52) Kove Reine SA oot Remora 55. Degee Heaton 58 Degree Reaction Bares Cuarren Six Advanced Geometric Algothms ‘61. Poin Tvenon and Projction for Cures and Sues {62 —Srlce Tanger Vosor Iverson 163, hanson and Projections of Curve and Surfiows 4 Reprunetrination of NURS Cares ad Suroes 15 Carve and Suro Revera 186 Cameron Beton Bapline ad Precrie Power Bass Forms Beni Cuaprer Seven Conics and Circles TA Ineodetion 12 Vato Forms fr Reprseating Conic: 13. The Quadra Ratna Bir Are TA ale Coat Pons TE Craton of Cole: Th Contra of Conk TE Conic Type Chsifoton usd irs Comerson TA Migier Order Ccoe Soe Cuarren Bicitr Construction of Common Surfaces AL Ietrodction 82 Bila Src 43° The Genel Clie MA The Ral Stace EE The Suror of rvotton 6 Noemie Saigo Src BY A'Thrn sided Spal Srtace Cuapren Nive Curve and Surface Fitting 81 Introduction 52 Ghia lntepaaion 521 Global Curve lerplation to Point Data 822 Gioia Care lterplation with Bad Drvatives Spc 823 Cable Spline Cure interpolation 162 m2 i - an ae 281 1 ae BEEGSHe 8 SRSER S322 a 924 Global Curve Interpolation with Fst Deities Specie 525° Ghtal Sars leerplataa 23. Local latesplation 931, Loca Carve lerpintion retinas 932 Lal Paraole Cure nterpaation 933 Lea Ratsnal Quadratic Cre Inerpation S34 Loo Cubic Curve Interpolation 835 Local Bei Surface Interpolation 94 Global Appeimation B41 Laat Squares Curve Approioation 042 Waghed and Contaeed Laat Squates Curve Fiting 543 Laat Square StticeApproination B44 Approcimtien to Within a Speaed Accracy 35 Local Spproination D1 Lael Rational Quadratic Curve Approximation 582 Lica Nonraioa Cite Carve Approximation = eres CHaprer THN Advanced Surface Construction Techniques 102 Seung Sure : 103 Shined Surface : 104 Swope Surfexe 105 tera of «Biotin Carve Netw 108 Goon Srace (CuaPren Eueven Shape Modification Tools 1 letodetion 112 Conta Pit Roping 113 Weight Modan 3.1 Modesto a One Carve Weigh 1132 Modan of Two Nehboring Carve Weights 113.3 Modis f One Sice Was 114 Stage Operators ida Weping : 42 Flawonng HA3 Bending 115 Constr tiod Curve a Suis Shaping 1131 "Contrib Curve Modiesion 1182 Gomlrin- teed Susace Modiestion Cuapren Twetve Standards and Data Exchange 122 Kr Vectors 124 Nite Within te Stands re ie 0 sn ut ca132 133 res STEP PICs: Data Esch oan fo NUS Sytem Caaeren Tureen B-spline Programming Concepts 13 i ny Ba Intact Data Type and erably Data Stnctures Mamaey Aleestin ror Conteh Drihetc Hoang Example Prams ‘Addin Stree 13.40 System Sucre References Index S888 CHAPTER ONE Curve and Surface Basics 1.1 Implicit and Parametric Forms “The oo mat common mth of epeeting curve and sues In grmetrc ‘noicng ae ipl ston sed pret functions. “The ipl eqaton oa are png the ype haste frm fs) "Theqation dibs on np reonap betwen the an 9 eordnaes tthe pln ying onthe curr: For a given curve the equine Up T'poranetsc frm acho te corinate «pint om the ear epee ental prs ae ncn ofa independ preter ‘Tis, C(y sa yctn salad faction othe Inkpen wriabe w. Although ‘eter fasta smal seman to 1} The Bis ant tf the cle shown sn Fig Ll dette bythe prametie facios a) = oat) rr Siting ~ ta) one can derive the aerate epresttaion aon 1s woazts ostst onPe 11. Ace fra cane th ni. 1a sitive to tink of C(a) = (s)he path acd ot by 2 te afc fie te ie tae, a the eater {al The Bint and second derivatives of Ce) ae the vot and aseration Fike pil pctv Dieting Ee (01) and (12) one ys he cw le co Dao) = (~ sis cm) =" m-2) 0st) (bp tame) Note tat the magnitde of the vec eco, C's), constant (Creo = Ya) re0e) = 1 ‘a, the diction fhe pate nang wih Line, bt ts see constant. "Thiet fred to se enform poumetonction Sebetiting#=O apd = 1 Into C(t) ysl C0) = (0,2) and CH) = (-10) bey he far starting pedis tice seg speed (Figure 12) "Rsrtace ded by an inp eqtion ofthe form flzny2) = 0. An ex samples the pre ow uu cere theo showin Pgare 13 and ‘ocd by the equation yf st =O. A prnmetic repreventtion (mt ue) of he same sphere ea by 8,0) = (a(eehe us sue) where (40) = sno) 0) = sn ato) Ha) eau) 0 as mpl and Parametsie Forms 3 ew ie 12. Wok tans Ca) ad (0) at t= 0a Notice that two parameters ar req to die aera. Holling fed ‘nd ying © peer the adil of tho ep; halding ed and ‘eying gees he opal nes. Fie 15. A pee fi emt a he in‘Denote the partial drains of $0) by S00) = (Bale) Bee salece)) nd Se(ee) ~ fears) sere, a(ee)y eee ects along ‘ital aed lng! nes At any poe onthe fice whee the vector ‘om proc 88 does noth, the uni oral weer, Nols gen iFiewe 1) ye S28 BS) “The extnse of s normal vector a spin, andthe cresponding ange puns om ome oper of he surface independ ofthe paaieron Ditectprsutaeatons give dierent paral derivatives, but Ea, (1) aways ‘lo N provided the denonator doce ao vars From Ba. (13) can Be SE no all 0 < 9 2x, Syl) = Syl.) = 0, tha, 8s alae ‘Sith eoth and Sth pole of the pte Cll, normal vectors do exist 1 et ploy but ode hs pseertion By, (18) cant be ed £0 fonpate them, “OF the pli and pramtric fos it to maa that one i vgs more apropinte than the eter Blk ve thr vantage oe ‘hentaper Gucci geomet modeling done wig both tchgues A ‘Sompatn ft two etd flows ws ewe 14 Pati ie and eit sea wears of Power Base Frm of Carve 5 + By alings coin he arnt mtd ity tended tree RIAU Cave inte Sneesoal pce, Ot) = aha) {ert dr lyse cares esp 2 or) pe “Te eanburons osepeamt bond cre sept 0 mice pace) ‘help ane fomdainc a Sb pam ‘nought buon Sk pram On the ober hed, tnounied mot (ee, ssp sige Se pen ty fle) = ar seat) Bed alent win ameter, «Parone cares pases mtu dicton of ral (om Cl) to Ci) ro cae 8); plc cares dont, Hence, ery wo eerste sat tnss tats sng spect sue Ail stone Sn erences plo race «The prune mor aor or desing ad woreseting hein ‘Testy Th outers fy prune nce, ae a opi panes cenreie gome ncace, Tis altro tatu dee mst snd uate thls vhs ai i «The complenty of may omic peaions ad asp depends ‘aly nib tid opens wo cane camps mp pit on car orc = the mp em ens pit deter Hon the ure res Bein Sart rm, + tthe pret frm, ots omen deal wi parts TES Wi oe uve to ae gemuiy A xanpe hr te it ‘hee (ne Balt) The pone person eed pans ih ae ecg ia boca te pls seo errs as 5a pa on top We ar concen sls exchaely wit paramctri foms inthe remainder of hs book Dare dead o plc aed paruteie frms ean be fan a ‘Nanda es (Pl, Mort Ha Boe) 1.2 Power Basis Form of a Curve Chay by alhing the connate functions (ead (a) te ab tery, we Obtain spot arty af cares, Hower, there ae adele when sep gem deng sem. Tea sani rai + ce cpable of precy repeating alte cures tbe uss of to ay oot «are cy, iceland accurately proces ia conpate, in paste we s par ~ the computation of pols and drat onthe curves is ices~ mame procening oth functions ie ela inesv to Bat ng poi rum eer the feos rogue ile memory for storage, + ac snp and mathematically ell understood Arey sod clas of faetins ithe pljoolals. Although ty sti the Ltt ere ht, the ae umber f porta curve (and Sura) types mich cannot be precy repeated sia polyoma thee ‘ares st be approsimate in stems using plysnil a this ecto ec {he nex, we stay tro comma ethos of exping polyamines, ower ts and Bear, Although atheratealy equal, we wil se hal {he Beir method i fr eter ted to vprsating and manipulating shape Ante por bas curve gen by C0) = (ona). = San asus G8) "Them (2) ate veto, ence Yaw ve)= Sou 6) = Paw! eat frm Ba, (15) 8 mons of (We write ow vector asthe transpuo of enn vector) ‘idee Ba (1.8) ye lal (wl a) 4) were O(n i the th deiatine of Cla) at w= 0. The n+ 1 ations, [ells ac cal the bis (o nig) factions a he (a) the cows of thn per bass epeseaton Gena, he pt Cl) os omer base curve moat fel cnputed + fr degee = 1: Cus) = ave #25 + dre = 2: Clas) (ata +04) o0 0 Fee = 0: Clan) = (Canta 9-2)ua aa) tw Fo my The gene loth onour (420.0 Te empate point poowr basis curve. +/ © for (it; 00; 6) } Ds impos" ava i carpus © = vata: "Sona ail Examples Bet.t na. Cl) v taps 0 Aerie le) sly) = m( Beige ale)— Brana) with Bsg st) = Baas) Pique La shows the dito of Bi, aod Figure 1.18 states al (he ate dete fncionn igue 133 (Conn)ey 118 (Come) rm Bg. (18) we bave Bf quadratic Boren patois ae sig property P26, the Linear and aslo) =(1— 9) Bool) +08 Byala) = (1a) Biala) + Boa) = Bola) = (1) Baa) Hu ag(e) = (WP? Bua) ~(1~ wu) + wBaa(y) = (1 veut 8) = 2 0) Baal) = (1= w)Baao) + whale) = Pig 1.14 Te rcs din th Brat atom Baier Curves 18 Bs Ba | - g o t My Ra ® gue 118, Drain (6) The dative Ble) in terms of Baa) ad Bel (Ft its tes ea Be ym Bialul oe So iat Propet P16 yikes algrithns to compte vals othe Rene polyoons ato ai of, Alga A tmp the wale Bee) fr ood w: Tho computation of Bi dept inate 1sco 2 2 a valu ofa tarnteinpegeaiah. +/ a , h soe 0) Je cngte on os +/ ba a cai reroenen sce Aaah cepa tear of 2 fs as ry Ne 1s fs Sn ‘Aesth 1,3 compte he nt degwe Barn promi wich . sot Mm ac ns stay compro 0 rms The Stites Se ae rect ce 2 anernetsite.8) ie 11 Te comption a ss bo S fy Smut mde aaa pga. +f bec ial J+ Output: Can array, B{0),...,B0R1) +/ a aio) tar oan fe Foe ations 369 os = as wed = 0.0; ms as For ace He a Be tte oe ae, a ns ; : ) ae . Alert 1.4 combines 41.9 and Eq (1.7) to compute the pot om an =P Soe dee Baer curve a aed ae erTepe +f 1) 7a 42/8 deca array #/ ke) G+ e+ BIkloPORs } property P17 ey to dv the genoa expe fr the div tov of Baer cave cw = Pin Ho a9) ‘mn Ba, (19) we ely obi formu fr te at drvatvs of» Beer CH= MMR) CO) =MKo——2F.+ PD C0) =n Pra) CFA) =n HEP 2Pas + Pees) (10) Notice om Ba (2.9) an (1.10) that "the deine ofan ne dere Br curve an (1) Bier «the eprenions forthe nd rvs at = Oa = 1 are ymmtrle (Gas a eu, to the symmetry of the bs Fant) «the hh eave a an not depends (a a poetry very ntve ‘une wey onthe ke control points tat end ad Ca) = Fk Bato) Pe Ton iu) = (WR 42d a) = w(( wR +4P)) Fal P tH) ‘Tis, Cl) io cbtaion ae the lear nerolation of two st dgres Beir ‘ue inpstsar ay oust oa Cu bla y the nen interplons. ang and = ating Pi = (1) a a6Ph, Pig = SP aod Pap) Pie Sou ioe C0) Froth tow ne ‘Dentin eels dng sir ure ty Oxy Pa have af Pa Pl aay * 8 Fre LITA placa ce sr cary repaid ier inertia t= 224 Curve sd Sarice Basie "This lr the ecu eit of the functions oP. 6), ng ro a denoting P. ty Poy Ba (lt) yes arcu alg for Sampling the pon Cle) = Py) a deg exer curve 8 dmyrult reread tft Peal) ine (132) uation (1.12) ie elle the deCaselion Atori (e [Bosh dCs, sa) sn cur cuting proce (re Faas 1.16 and 1.17) which yl the {eg table of pointe sown i Tble 13 stare jt P2,0,0) (C7 Geapate‘poat on a Bezier curve */ fo Netag aetartenjou fo Tapes Pyar arpa: €'Ca potas) tor (dy Leong hoe) fe Un 20ead anray 20 00 do ot #/ ‘0 = Plas 1 decoy conteol posses */ tor (eri kom E08) for (10; Semedy $60) OL) = GowdeoEi) + wealien; c= ala: ) Wo conch this section with »comparion of te Bier and power basis mito Clay, te Base orn the more geometric of the two. sion {10 tostor wih convex nla vara timing properties “Tht 1.9 Pere yt det y Pus B Pan Pao = Clu) Rational Bane Cares 25 ‘Blaercare nce xtble fr interactive curve sgn Th sont point give {he dsgnr ae nitive hale on car shape than do the power bass ‘caticents. Furie, te dCasalja slain ls pre to round-o teva than Horner's alg, This tataely car when econo ‘he easel algrithm snp repeated ner intarpoltion between pot, tlle which ea the vst oft curve ‘The oly diundvantge af the Baer form ttt pot wraluatne i le acento Agog Ay AIA, and 215, ond Exercise 118 ltr in the capt 1.4 Rational Bésier Curves Next wo nto the nae of rational curves and homogeneous cordate ‘Toilstcate tha sonsepa weve sbi itedotion to rftnal Diss curves ‘Ths ere ae spc ese of vatoal pine carves ands auch are eta ‘nor compete sgroly in ubmoqene capers ‘hough payoomlals oder mnayedvanages, Chere exit number of em porte cure and sufce type nich ennme i repented pel ig, Paloma e, cls, lier, hyperbole, idem conser ee As {Sh example’ we fie poo tnt the wnt cet te 2p Fl, ceed {he rig, camot be represented ising polyol coordinate fein To the oni us ease it HW) Sag Fann hos tage wo) = by hho a ‘Thea #49? 1 =O pis hat Om (abet aca + et ton (+881) + 2a, +B (f+ anes +B Ad? FPO rag 206 HH Bayt Montane + Babes) (0h +H ‘his eqution mut bold or ll wich apes ha ll oeiceas ax 2 Starting wth Ue highest dere and woking doen, we ow mate at ll a=daad = O6et Si en Step 1 +08 =O pion 2 0 48 4B be = Dan ity a A26 Cue Sure Base ant ha = Dad Step = ply ao Dar “is (0) = ay eds) = yw a ion contin. Tsilaben om ca atnatcr tn lth ie eave ndatlog theca be eject song rata, oi ae old he ‘if ve penn eye epee clei Xu) ¥(u) 2028 eo FB wre Xa), ¥(0) and W() ae pyaar ici fe te te rami a ay) Example ai.8 Ciel fais 1 centred tthe rg ww ES wa xt.9- alge, centered at he vgn th pai the major a the 8 {emir sian the major ad iar ad are an 1, eet 20) ‘x. 10 Hyper, centr at P= (0, “The lower anc (with verter at aw) ‘1.14 Parabol ete atthe rigs the ri a of emery a=" te Notice that he pars ds nt regu rina factions, The reader should said thew Rance, For the ele opaton say to cha lees m (asta) om the wee contend tthe orn G60)" + (0) = Define an ater rational Bir cure by (Fo Pig; Fos, 9) Sain, y= Se ———— oes SoBalun i oa Bi) a ee me Ete ety sia cw, me Or al Te ‘soa tt Wie) > Sarallwe ol Woe ay) a where Rag(o) = Pee Dates ‘he fal) we he rl a te re rm Fe 138 Seti Sete ge Tas tl Somos “eee ih an aly ee oy (1:18) an ee eer fares a mrs Rafe) 2 Oe ina04 M9 pont ty Re) = hea 0) test) Pst Mea to msi ne era Psa ihoe bral th Ro) = Bol) ale he ge) ea ‘special ease of the R(u) a “hee he ig pot pt ain Bae Pome lpi eter oa cone ae he Semmens 14 tn tin a eg Sic tecac ieee a ce "finn pn ec 16 spat trie C0) = Wat) LAr Gh danas apn oh lt Qa) 8 Set aa das ncaa ce Soon Rewari Re wep se pent Be ce come ed Bs ar° Pgs 136 Rainal ae 0) Das ons () Baer care Example ‘12 Le coder he anal Bie ele ae represents one quant of he uni ea shown in gue 1.198. We ow deve Ue qusdrae rata! Base veprsettion of hs celar Se Cheat om Pte and P2-47, Bye 10) B= (lly aed PL (0:1. Rare wags we hae Woo) = 1408 = YPaladuy = Ww +201 — wos + ie 118 Reretation th wit (9) 36a) = = 8849) a ya) = C48) fr ear () the Ber petting, igs tite (ay Leandra) Suhaiuting = O yields wy = 1 aod u = 1 yds we = 2, ily uetiting = Yel f= eww + Hany ad wing y= 1 Sd y= 2 lds I (we Figure L100), atin carves with cordate fein inte frm of a, (11) (on ut sen donot) hae an leat erm terpettion whi len Dosing and eompact data slrage "The tent in mayen eon tates o repent alton curve n-ne spe 2 ppl carve 18 (e+ 1lmensioal sce ae; Rie; Pat). ete sar wh ‘point in trerdinenional Pacis space, P~ (yr), ‘Toea Pk ten se PY a rsuysuzye) = (XYZ) omental pan, 2 DNis cbtaon fram Pty diving al cardia by the fourth coetinate, W, Te ky mapping P fot the xin tothe yperplae W’ = (oe Fgue 12 fi the two-diensosal cae, P [Gbs) we ection (Y.2) KW =O 9) Notice ta fo arbitrary 2.3, Wee ws M(PP) = H{lexsvexyee)) = (58.2) (wgss0nnv2ne))= AP) Now fra give st of conto pints, (Pad waits, (4), cota the (weeny). Ten dei the nnrtiona i“ ow Sarr i) me | ‘Then, applying the ppetve map, H, to C™(0) yields the comesponding rational Beer cure of (14) (oe Figute 1.21), that by wring ut the ‘ordinate inetons of Ba (117), we st X¢ Toatwwes Yo0)= So Aalvdaa 20) Salen Wed =PBelod ecto be crv in hee diene pcr TAalormn xu, mu) a0)= = Yaa YE Balornae SAalohw > Bn(s)ne Sto et tn Eaatomiane) {Ga = a), fu, 2) = Laat Eastome (as)‘32 Carve and Surfs Basics Fig 121A ome contraction of tna Base ave or algritms inthis took we primarily us the form svn by Ba, (17), ‘and an anaigps form fi rtd! ple curves. Ths, nonrational orm ‘re proamed in Souinenional space the rents ae ae hee ‘Senna space sing the map 1 We ree ntcangealy to either (0) ‘2 Cu) asthe rational Be or B-spline) crv, although sly peng, {C-(e) oot eaten curve Examples e118 Lat w flue the cola of Figure L1GK. We awe Py = (1,0), <0, B= (Oi), and wy = hy wy = 1p wy = 2 Bos or i (1:17) the toe dimensional ate pit ar 0, Py (G21) and PY = (0.2.2) Thon C* (a) (La) BG (00) Pe Py ina paaboe ar (onto, what projects eno a cela ‘eon the W =I plane (ne Figure 122) a wy be fed. Since C¥(w) & pljuomlal Blk cure we us ‘he dasa alpithm to compate C=) suboquety, Cs) 1H(C" (oa): Tia we apply B02) othe PE Pro) (a) Pract PE ne tr { Pipe 122 A homoge peentton fel 1.14 Let us aply (119) to compute the point at w= 4 09 te rtioaa Bescr cular we of Example 113." The are glen by CC) (WRG MPEP note Pen (0) = Ja Tale LA. Then Cl) = ACCA) = HAC 0) = Ch 48 Now lt ws compute the pit using the ther epeetations we have Sevloped: Let c= Cray Tee, ‘Tle 1A. Genation of te oie C°() 08 the aon any onamoe (Mh o(2)-Yaaqoer- (-G)Joso ot e-( +(Joae one} Projecting yids (946 Bauaton (1.18) and (118) ye the sae ro inal we not that CA) = (9 isnt te mip oth ear sein the frst quadrant te, the parmeteintin ot frm (et ‘Seca 11) The pot ($e) wore thar bal the we age om {he stating pot This ete cnr, ince by deen, {Cla oe case tat the starting sped tice the end speed 1.5 ‘Tensor Product Surfaces ‘The carve Ca) veto vl function of de pruetar. Be a mapping (Getrmaton) of eaigt ine spect into Bulan thee diensoal mae ‘Asura vectr‘aladfeton of wo paratypes ‘napping of tein, Rf Uwe ple nt Eucsan thee dines ype, ‘Thos thas the ora So) ~ (ee), 0) aCe), (ye) € Re Tha ate ‘many scnmes for epeeting sue en Pog, 9] ad he many ‘elon ced in [Pig They ifr he corns fats td the pe of ein R. Probably th saat thot and the one mcs widely ‘ued in geome modeling spect ete ouor pat eb, Th {the metho we ue nth eer otis bck “he enor product method baci a eto! crv sche. 1s ‘ifn and genet cet, Te bss fncions are ait ane tonsa and which are canst an prac of wna ba funtons “Tensor Product Surfaces 3 ‘The gometric ofits are aranged (polly) i bidietional ne tet hans tomor product surace ba the oe 8(u0)= (urh alae) alae) = So hlelledy (20) a {tezeomes [Noe thatthe (1) domino hi mapping aque (a etangl,n geo). ote ao tha a) hn a mati frm (ue) = [AGF Ub Hla see fie? 8)» (01s vt] + 3) (0) cua ‘Wear [age (wf 1) matted! it “sto empl we solar be power bss ua sd = 5 Sante tof iasel (SEE ESM ay Wo have ff) =o ado) =o nd tho ase fntione ae the products, [We Wwe xu yen Cfo) = Su EldwulEoww am wee yf) = au es per as carving othe rae, (4). Smarty, Cu omer Seine gon Sea he ee Ga) a Go) rs ‘ocurnes) Cyu(e) i ell a.» curve, Cy(s) a u curve (ee Figure 1.23). ‘vation (UN) can be writen a 5ls.9) = {ane tae + aaae? ttt) ufgvo tana age toot anae™ ee tease tm tt aan) Mage tani haga bo ta abet baw a bt Boati= ~ Fre 1.2 A tener pod sae shoving pram cis ‘The terms inthe braces ar imple polyoma that can be evalatd by the oroerAlgith (4-1), ying by by by. Using the be and eapplying ‘healer, ww obtain the pn onthe raze’ "Taar wave Algorithm 4-6. 10,00.8) ‘point on s pover backs surface. «/ er for (1s eon 400) Wo,b(s)0; /+ a(2)0 40 the $08 row +f Algorithm A.6 stp ofthe alorithns or tnsrprodutsracs. They qn cite eeing tc alrtin eny pe Ing th mor) row foc (curves) none eto, ten proces ne or mote ows in th the ition ietetating Ba, (21), we oan EE! su S00 Noho that for Bed (ut), Sul) = Con) ade) ‘The aormal tr, N, compote tang oasis Beir nares re obtained y taking ideo tof om ‘wo poms ad prods ofthe unlarite erst polynomial SH0)= FT Aaleibalhy OSmvst — (2H ‘he bas funsion Bya(u)B sf) shown in Figure 12s, and gure 1.205 shows «quadratic ete Beier ure Cale) = 84009) = SF Ble )Binl Ps 0) (Saacuns) Sanwa aay LF ialw)Ry FeO. vere Q(t ‘se Baier curvelying on the sutce. Analogy C(t) ~ 37 Bea6) Qt) iba Beier u our lg on the buice, ‘BasBiae) S Fewe 124, (4) The Ble tenor pode be faction, Bsa (0) atta te Base ceAsie the ae ocr, ctf thr xt proper ir ace au eto tel guise ming apts an pore bs ‘parca, + none: Ba) 2 Of a5 1 prt fu gE Bp) =r al a 1 St) contained in th comer lo contol pots $time, 1 were nepal the fa omen pols 1 ben mgt th ntl toma planar pated! ppacnation wee 1 inertia ont hat ce own vin dining rope fetter martes Ge rss. The oat) een canpat it on a tc soe Reo Bq (124) and Fig 125 Lt (9) be eo ied, Qn) = 3 an) Pun he pu si yp the Sci Sethe oral pont (Py), “hres apying he eta Alin (1) ies ds Ca and tpobing He eet On) ae = oy Fos Cx) = Sten. Tas so to), not) oS Pig 1.26 (Contrc) act itrplations (st Berke 1.21) By symmetry, we can compte C8) fen (nt Tapco of data) a tho compute Cy) = Sn). This ogee mime), nt) = a ! om ner interpations. Ths if > compute Cu) ist then Cy) ri, compute Ce) fit then Cx). 200,89 (7s Gone a point os © Besser surtace +/ fo ty the deterteljen. fo apes Ma os Ostet: 8 “Gen { for G0; jeru; $09) “detantel out PUI, ecantah ent, } for (190: sem; 56) igre 1.5, The Cae leit fr «Ba vce1 Core and Sure Bass decane jeu (P0 [5 000,004) 5 sucantl jai ,2, 00.) y d Wi dine aration! Baier nerf tae the perspective projection a fur mensional polyoma Bete surfac (te Pig; Furs) Soe) SE MaleiBiaPE (2 YE Aaerentewsrys sed Shas) = HIS(00)} =» YE PAwBimlons sloeP 29 iM iM Bale Binley, LLP alo Baonlehars whee Notice that the Ryle) see rational fants, Bat they are sot produce fate tai fanebae Hence, Sue) isnt toaoe prot sic, bat Se(ope) bn As with curvs, wo gurl’ wrk with Bq (127) and projet he aus: Figure 126 soma anal Bs net, se Figure Lb de pices qudratiex cable anal Beer sn. Compe tse fits ith Figures 124 and 1.20, ‘Aening uc > 0 fo al and, the proper etd peso for none ‘nal Bier faces (and the product fens Biq(s) By) extend ma tall salina Blaser racy Pathermre stay = ara and then [is tee) = Benya) ad the conrepoting trac tonto Bxample 1.15 Lot ws smstruct a elnielsuric patch. rom Section 1 we kum tae ) = Saar for (PP) = {0,1,0,1(0,1,1,1(00,2.2), 6 dear aren the ye ‘lve Using teantion F214, Seton 14) ‘Tease Product Surfaces 41 o Figs 1.26 (0) Th rail ts faction Ra.) (ith wy = 5 ad al ther ‘sdb palo os) (@) 2 gud ene acl Bi acs Goa Taste at cro Tasers whee (PF) = (10.0. 0,141,1,8.02,2) aed (PRI (ALO I-02.) se crcl in the # ~ 1 and ¢ = =1 pla, spectively (oe Figure 1.27). Alwar terpeation between Cj and CY ple pe. deal rent Lo PaloBsal DPE, Foe ed w= uo, C5) = $4 (0 Qo gh se teat om Cf) a) ta to the aad ey, = S(t) = Stage) QP) a cea wen te pane 22 (a wi) sw) tty Now ew compa te pant Sj), lg Ag 14.7. Note that 8 > ms Pit ba Coie) (11.03) (aan (02,0, = a5(0)42 Carve aed Sura Basie 110) are) (0.0.2.2)= Q¥(e) Now C51) ~ Clap Bile (e) i the cela are in the y= pane wien en) nas (459) aaa ak ig Fie 127 ini tie patch ation Bir ute Exencsses 1.1. Conder the to parame repeat othe era gn by Bas (1.2) ‘a (12) tang Ea (ej compete eve pe Md ing (13), pin at Bea te en 1.2. Compute the aceation veto, Oo) for H(t es 1. Vane Semen tin, Ss ae esi he nd a ih cisco, ith ape origin and io pay along + hin pin ph dl hve a = yh ih Moy. (1.2) to get anther repeat fhe me ace Capt he Et ‘eta doin San etm Wht on 1.4, Conder the pba ae C{s) = (fa) = (<1 =u 2-2 O'S vST Skach tere care tated ane by apg the Utandosionsto theft aa) a a) Ap the tw tran (0) 90° retation abo ther, The rotating om the et) Ra] (2) eatin with te tar (-1,-B“H Cure an Sars Bases “Te imp oto fhe ung pron 2 — ep 4) — ey 8-0 ‘Sah the cre Apo the prevour tac td usa oth qa. Hit ie be the tur cordate ind eprman 2 = (66) sek = AEB) ‘a steatetaen theipsesanon obtain the inp enti the ‘antrmed puto 1.5. Denne fr fr he mambo on ad apne scy {Stampates puto an n-ne eden power ba ce 114. Comtnct sae poner bas cue with a op. it thin abot what ed Pott ded erate, C0) nd CU), ar emmy 4LZ. Conc s ae poe bar cave with csp Hint tink bout Co) and (Gap Sach wha) yeh) made) nad ok em ncn Detamoes tle Oa) sd thn neat tae Ce) ad Cl) 18, Ut Ow) = (eadfe) = (L420 Fak — 204 1 Su Sb 12a Be dose ey eng Sve Ol) at dager iecare Clot Compt Cle) fr =I. Compe Cl} ore =O What Sepa Cn ho ced + prc 1.10, Check the property P17 othe Bers pbaomie ee cee n= emis neceny tare acu, gen Cie © = w= (peda Caley 027 Using the ‘odet rl, f= Ja? fot deena the bento Nl EB Mole) + AE Nay alt) Nivapat EE Sone Riera et Fkwe 28. The rcv eto Baie deren© Bp Bas Panetine Sutmtting Eq, (2.7) eto Bg (28) oe Nyy ao My Pil Noone arti of pine Hac Futons 61 By the Ca dear frmula (Bq (25), the exons in the patties a8 be replaced by Noga ad Neng tepectve Te flows hat Nant ee ee Eq. (27) produces the general formula s0-( TES) ae uation (210) i notber generation of a. (27). 1 computes the kth eave of Nl) in era the ats Nap Moun ag DeMieame 10) PAPE re mars on Ba. (210 + soul ot exon p (al higher deine te 0)2 Spe Hae Rectins Comparing this with Ea. (27) roves tho cae fr = 1 0 et k= 2, Dil siting B27) viele Ne) rsa) For completes we ive an akin fom for computing deat of the spline bs ont (oe B78) = 52 (stato Tenet uM gation (21) sete fa drat of (ln es fhe deratve tN aod Ne Pigs 29 end 2108 show the dvi corepending to the ba fae sins Figure had 10 igre 2.1 sows all the nonzero deialive f [Nix Nate tele ltpie knots in Pigue 2106 has mp a the tcp kot Porter Propet of the Bass Panes 6 o Pau 29. (0) Cb aa ncn (2) tv omapnding he ba fe ‘nein Fg 28 2.4 Purther Properties of the Basis Funetions at (uj) 0-< 3 < yb steely ceasing tof beakpins, The et fal ‘cows polyoma anton of degree pon (a) whch are C ction at {i fms aver spn, V (-1 4 9) Wo cotiny comstralts oe Ipod (j= 1 for ll) then the dimension of V dented nV) eg {O'hip-+ 1). Esc enn constaint dre he denon ye, this amo) = H+) +9) em64 B Spin Bats Pctins Page 210 (a) Cae bs cn towing gle, dbl, nd ip ts 0) ‘aie the aeons in iar By Prpmty 72.5, we oblais the Bapline bas factions of pares with ‘sd withthe dosed ently, by sting the appropiate sawbete y= pr Hence, ewe oot veer a he foe ay mS) Now at ‘Pures Propertin ofthe Bass unctons 65 “The ly, thre ace sarah drs fnetions, Ngo, m1 et de fine thos, aya In gaara, mp pede fein, Np, whi have the in Hence he Na te contained . Sabetting Sy ory io Ba (212) yds sdim(Y) = bp +1) ~ Sip 5 +0) =H) te dren teon as ‘Tins, the umber of pth degree atin base ction on equ on). We now jsf the term “i functions by showing that the Ny ae aly Independeat, se, they form a Bai for the vero space YT pe by Induction on platy the seeder ction are ines depends ‘Ase the (7 ~ 1)tdegzefaneton re Bnaryidepeat fr p> 0. Set nom pol, ad acme tae Doran foray6 Spe a Pct Nivapes an changing the summation vrabie eich impli ay a1 = 0 fr al (by azunption), which intro pes (Rec ofr als The complies the po ‘We ar our attention now Soke recor. Clery, onthe dere x the ent wetr completly determin the fnctios Ny (). There are several fypesof knot vector, snd nfrtnatly erie Yare in he Berta ths book we comidr only manpenade (or larmpe or open) kat vetrs, which Ive te fr seapabed eas) at the fet and lt ots Have mali p+ Ror soopeodie kt ‘eet we have wo lol properties ofthe bss feos Om Qe bed) “ede he Dertein polyomil of degre p (ie Example 21a Sec tna 72.8 Let m1 be te mane of kts. Then thee ae ns factions, wien n =e pty Nagle) = Land Negi) = 1. For erample ose) ~ ftw fom the ft that Noor Ny-no = Oye thi npr hat Naga) = Nyo(a) =. Brot P24 tlw that Nt Oieet 20, a0d'N, 40) 20oriem. Forth emaindr ofthis bank, al ac veto are undersea to be aoaper| ae We di aot vetar U = yy} tobe ator altro kas Se cqully spaced, if thre exter umber, sch tht =a 4 Erallp2 te m=p-ivethcrviee te nonsufre The ht vector of aap ‘Compatstie] Algorithns 67 12.2, Section 2:2 is nnunfoem bree of he double knot a w= 4. igre 2 shows at of worn enc sis nton, aad gues 2100 212 25 Computational Algorithms In is weton we devant to eampute vs of the bss eto fe tha dies Let = anys} ke tr the In Ee. (2), and amume we ee ere te bse non of eee Frthermor,stie Bae, ad we fou). We deep ve eps he at pen nds + Manaldov as) ned on Ba (25) + Bgl) fr B= On ar > pe dint ae nero (ch grin elon Bg. 210, + sind bmi onto, Nl) whee OS j Sm—p— I, + te dete stg a nt, 90, whee UlasavtD> { Be (0 < inal) nigh = mia sid Cowensgs/25 { returns: , Now we tackle hes algorithm. Amuming wn the th spn, compa ‘ution of the nose fenton ols an ved ringuae sen Mean 0, 1,2:84 4,558), and a = oe igure 26) Then d=, since we ues). Ths, we compute Nath) aah Natt) Nh) ati) Natt) Compataoel Atte 62 Ys imo a, (28) (the wader should do this ih s()-b Of G) Notice that fo xe degre the functions sum v1 (2 {ew be char to the render who cro the bttton in hi emp hat tere reat dal of edupdan campattion inert ln By (28) Foe ‘ample, wring tthe sends fsctions a ger terms we have ut) 0 H2=txul) eee) + the itm of ay (2.14) ad he at eo (210) a at a pian Nea = + the epson \thich appears inthe won term of Ba, (2:14) apeats in the fst tre ‘ty, 0) «sar steer hl rth ont terme Ba (213) Sethe om of By 0) ‘We intrdente notation Neh [J] sien g teh = may u gations (2.14}210) are hen Nano) = git BL 6+ tbe a aa) = Saree) + cape ean)20 Spine Bas Peon lea) a ee sate aalh ag N + ata ay Me eet eh 9) Nate) (a) = amr ape +m ase on thee abeervations Alga 42.2 compu ll the monanishing oui factional testo he ae OD BD aesaPaoe(1,p.0.0) Tre Compute the nonvanishing basta fnezions */ fe Tapaes Sutsp.0 7 fo eps wa nigheios Bei sen ote) = sutssis): eel = otssl-a ‘for (2-0; Fj; 1H) aup = Me} /Ceight (ee) aetsCs-eD: Os) = aveatragne (ee) emp: taved = efe(j-rleter: } Uj) = seve ) We rma that Ali 42.2 ot oly fice, butt lo guna tha There wll be ow dvon ty ao, whih cam seer witha ect aplction of frou 0 "Now to the id lpr npr, we want to compute all Na), fo sapere band O's em, whore np Iapeto of Ba, (210) evens that ‘he ase ingredient ae + the inverted tingle of sonra feo computed i Alpin + iirc of toe (ame: righ eT Aefe{J-1), ao compated Se Alert 2.2, + iernce of he ote tha te ay depend on te ayn but nt the ‘Viewed as twodimesional array of dni (p+ 1) x (p+ 1), the be factions Bt ito the upper ingle (nlating the gona), and the hook ‘dierent the oer tna Compete Alrite 1 [ricsste) [Waste ato) [Micra wnt ocr [oa [Meal Brample fat) Nid -afeaves@) teams] [renin +0u%ie rave Q] ow 0,35 en and ana all we knot difeences which ae notin the ray, by emp respecte by NH Neo a172 Spine Hass Paces ‘lh which ra ot a the ray These terma ae defied to be er ad w eo with aiaNa (= 2 N= node) “Tce hee el an ection 2 that Neale) = =? enw ef). The omputtin of NAN, MEG, ER, ad Ee) eamanens. ao the cern (ad 52.4) 1 ot ical to lop Ag chm 123, ws compte te tomo ae cad i ra ‘pt nding the th dete (np. Ontpat in the r-dnensionl ‘ay doce ern) the He of te sna epg mre GE Sm and 05) SP. Two lal ave ae wed + nn, oe he bas cna at diese + ata fpr, to sore (in an aerating fashion) the wo mot recaly "The algritn aos vison by 20 andor tho se of terms notin the aeay aad ‘DerenoetaPuneCt, up. ders) {Je Compute nonzero baste functions and these / Gerivativers Pinot tection ie 2-2 eedified.«/ ” ‘ Jeter = cutters Hianel0 = ulitha, sor (eno, #03 344) t Jn taser triple +f GD Ue) = eaneteetdeesets-2}; exp = edule) (5-1) edu); Jn Wyper eetangle «/ ute) = anvederighe eet otenp; faved = ete (j-rleenp: i 00111 = aves ‘Comipettioal Algseitins 73 for (ji enps $84) /+ Lot the baste functions +/ “secattl ) © ame ‘Ja Tae section competes the derivatives (By. (2.81) ¢/ foe (enor serpy S10) Loop over fenton index */ ‘afo} (0) = 1.05 7s Loop to coapute Reh dervative +/ for (ent; west Be) (fv tieernste sous in array 8 #/ Cea (0) = ated (01 /sautpe tds $7 stenoses is 5 stor Grits gona: 39) o2) 65) » Get) (mate) 1D edatpeotd Leeds ahve alan iomaubske ps i weep t o210) = -afet ea adatpeed ta; se ale) ede pe ete) = a feettaieats amy: / ) fo harespy trough by the correct factors / is (iq. 21) *F for (ent; Keom; itt) ‘ for (320; Se $60) dare) : : , teh eos #/1B Spine Hae Fectine We tr ot ston sow to te tt lg, mat compting 4 singe Ins ftom Mgt, the deri, NC, fw ng at ‘enim. Thesatons ol rons raga os the em Nae Ngo Buanole B08 Lap =2.0 = (0001244555) ane th Tsonga 0 malt 20 muon} ttn matsi=$ matt = Nt 0 (in om alt= matt =0 Natt) 0 Notice that the postion and relative numberof ost ene table sated Urine a) ete faved = (orhate) step ; } ) sup = wr, , Now for Bae he competion of he deviates, NM), f= Oo sn Spraiee Bq (39) Foronanpl itp Sand nd )16 Sine Bs Fetes sig tanga tal, we must compute kat Rie Ms Niu Me Nga Nana wg Me me Noa Nae My oe oe ln word he git 1 pte nl are linge xedig ok 2 ty get the Et derive, Jo the columa of the abi which contain the fictions of degree pF, al amputee rsa ora Ue ‘eange Alert 42.5 comptes (for k= 0 ered indore DersDneBasiaFun(p t,t, usm, dare) {/> Compute dorivstivoe of baste fancisn tip. / ‘Computational Algorithms 77 1% iaput: panthaveia +f 1 utp: dere "s) se (a CUE) Ie >= Uliepesl) f+ Local property «/ for (10; Keon; 240). dere = 0.0; 408 (JO; Jeep: $¥8) /e Initialize serotindapren functs +/ ie (o> ity) aru < UGE) HOI = 1 Mts} > 0.03 esp; kee) /+ Conputs 1021 ertangutar tabte +/ ‘ fe ce1ten) = 0.0) saved = 0.0; ‘lac. taved = (DLs) oH) tor Geos Jepes 69 ots -0U8D): hots = uteesens teamne = Ubiejere Sf OGD bet) = 0.0) ‘ E200 = saved; anvad = 0.0; ) c ‘aap = nse] Cet /orsgne-vLet); Oj) a) = saved (righe'w etesp, sed» Co Ulet¥)etenp y , era(0) = WONG]; /+ Tae function valee +/ Soran tomato Jn pte te eos of for (joo: jerk, $00) f+ Laat appropriate cotuae 6/ m3) = Http, feP Git 30 S309 comet ete ot tn of $4 ($0(0) = 0.0) saved = 0.0; else caved = RILOI/CUCp-atss1-UUAD f9F Goes sean 5 there © ofsejenls Delgke = UCssepesa]; i GoGa) = 8.0)178 BSptine Basis Pantin OU) = GeksijDenaveds saved = 0.0; t amp = WO $41/(Ursphe Diet) MG) = (riesp)sCenred-tep) foved = temps ) 2 e720) =m 7m derirtie o/ ) Final, soe hat Algor 42-3 and 42-5 comput dvs fom the right fina knot. However, Es (2), (20) (210) seers ths pte ould Rave bs fined ng era ofthe fm (ae). This would fo change Alois 4.2 through 2.5 In tee wor, derivatives om he Ie can be fund by imply having the an Sinding algorithm we ltrs of {hf ed eu he ening a (a@1.2.84.4,5,,5), su = 2 then span = 3 ys drives {om the and eda om the ah exercises 2.1. Code he ead qv ants compte ate ad stow in Fi Se sent Satate w= meth glycmil ents to cian (8), [Ness Mah, Mra and Nan) Wn do on nto sout he's oe ‘90 el hc the th eda nc? Enea) salt th stn and hf ad sc erates a w= 2 om to he sad gh ere te neti Dow Piprty 92 bal? Do he Sine we Nate) t= 2A. Comer tbe fant Nn) af Fre 25, ale) ~ Ya? Bea and so 0 ‘Ree a nc ert of Bo) 25, Aen omer Mls) of Fine 2.5 Obtain theta dees of san ‘hn ceasing tyler egeons ety‘ we the, tet ‘rth By (2, teabtaln Ne 26, Agia tp = 2, 9 = Ya U = (000125 44.5.59). Tce tough ‘iti 22 bat te the rf ther mmr te etn Tra ‘ou Ain 9 od the fi od snd raison tne 27, nn ny nd Yr 24 wh = 2. Te ht Alton ‘Spo pil pean fr the Nghe a Scien 22, an eae th ‘Sorat fon te Ws sigtat w= 3 Cor the aaa wh ha Jo ‘Seo tow Agus 122 2.8, Using hse pd Ua i rc 26 Tatra Alpin {22am ta tocovince our tte re pao wh aes 29, Wit the same pandU ain Eustce 26 ls = Tice hoa Aeciti 12 and compte th darts MY (fe b=CHAPTER THREE B-spline Curves and Surfaces 3.1 Introduetion ns this chapter we deine sonetoaal Beplioe crv ated sues, ty thei properti, and davies expresons thi derraive_For weviy we drop {he word nominal br the reminder of th chapter ‘The pray ga te tue an inte understanding of opie car and surface, at hat (the read shoul early study the many exampie niger eo is chapter: We alm gv slit fr ctpating pte a erties on Be tpline crvs and src. The we of pines odin carts ad are or ‘cmpuer-dgemetricdogn ws fit proposed ly Gerdon and Rete IGordra; nies Teplntchgues reno covered in any ok cures ad surars~ sv [DeBota; Mert; Bat Pai Yana Hen S58 oye; Beacon 8.2. The Definition and Properties of B-spline Curves A pee Bein cre ide by CW = TNO asecd en ere he (Pace the cant point, and the (Nay) ae the xed B- ‘pln test factions (B25) df o the noperat (ml nomior) a [eccaBiptesatnep tbe)2 Dane Cav ant Suc (ow kts), Unload thru we acme tat @ = O and B= 1 "Toe psggon fred by the (P,) called he one poly. Exanpe f D- {hive cures (i su cs tgeter with hi coreg ass ots) ethown in Fur 31-14 "rh sop ae roo to compute a polt on a pln crv a 8 fixed 1. find the nal spa in which es (Adgriti 2.1); 2 compute the sonar bs ethos (Algpitn 42-2) ‘mip the vals the nner basi ncn with te otesponting ‘tel pits Conider Example E23 af Section 25, with U = (00.0, ‘aid p= Then we (oye) abd m(§)-4 mas) *(2) Makipyng with he cot points yields o(i)-Jeenet 2.5445.5,5) “The gordi fons. Garvan Te Gonpate curve poise +/ fe pees fm Gatpues C27 We a at x mtr of propio of pine curves. These propertic fw Ing thus sven in Chapter? the ants Nyt), Lat Cle) Be dea by Pa) POA Men = pad U = (QO nth the Cla) Besar core (gure 3 73.2. Cla) isa pene paymomiacare (ace the Nig(t) ae plore rlbmomia)the dege,, nmber of onl pint, a mee ‘tot, m+ Tere led Dy toe a2) ‘The Definition and Popa of Bapkne Cuvee 5 (ce Section 2). Figures 3:2 and 3 st bass functions al setlon the Beplie curs euesponting to the diva not span sn oth Siu the lerating dashed some aespand wo he diet lcm (hoot pa) deftiog the carve °9.8. Enapoltitroltion: C(O) = Py ad Cl) 73.4. Aine arian an alize rnaormation appa t the curve by ap piping othe contra ott. Lat ea pa in € (hve cian space). An fin ransformation, dent by mage ito 2 hate oa 4) arty hove A is 2 98 matric and v 6a ester. Afi trnormations| tne anata a aT iin opery fr Bp carves flows fn the pation of wily Property ‘tthe pf) Ths ce Fah, whee py £"and Soa, 1 Tht # (Can) =4(Dan) += Dada + Saw = Dalnty) = Soop) 8.8 Strong cones tl property: the care costed a the convex all fits contol pays tn fw fanteedepet cm pe es {G05 in he ore al of onl pits = Py (ie 3, {5,and 26). This flows fom the soars Sadan of nly Propet ofthe 2) (Proprts P23 and P24), ad he poet at Na) =D fn) 4 when Wy) (Property 2.2). Figure 36 shows haw to cote a guacaic crv oan ‘rag Tine spent. Stee y, Py and Py a incr he seogue 32. (0) Cae a tons ‘ing eb eto Fp 32 9.00, fa Mads tk 0) ae xox ll property fresh ue to Be wag fn sees fom Ce wes 72.6 Local nication scheme: mong P, chang Ca) onlin the inter [ecaceps Pure 3) Tae fall rm th at hat Nay) =O fo UE Terps (Property 2-1). 9.7. ‘The control ply repens plocewite near approximation othe ‘rvs thi position spore by eat nartoa or degree eva thn oe Chapter 5 Asa general ule, he omer the ee, he clr 3 Bp cue lle cota polygon (oe Fue 38 and 38). The ure of Figure 39 are defied lng the same ix conta poll, end ‘Tho Definition and Proper af Balin Curves 85 B ee er ot ta a ha ‘The mason fo th phoosenn ntl: the ower the dee, the fer the control points that ce ottbting to the computation ofces) Figure 84. ‘The tong comer all property fo « quae Bane cur; te % CEftees) Cle) out the ange Pease . 9 36 A gone Bain creo = (0,00, 4h, i esl} Thre tsSstap ie bere GO) ond Gh NN MAH MH tt {Clu} fr any gine. Te extreme cap = I for which ws {Gla ta jt ner fterplation between two contol ya ‘cue the eae the conta alan: tan dining ayn tha matron ah he carve than with te cot! plpgon (ple the word pate with ie, Tor tw-dimensool carve) se [an 15.8 Moving ng the curve fn w= 010 4 = 1 the Nag(o) feos 2) ~ 8 [ane fo rok, 2 ie wie, a a mops 8 kt, one Na) Cadence he ‘Srveoning Beith of andthe neo itches on (Figures 32 ‘39. gue 3S ‘The strong come al oper fr acai Bap cure fas Fw 37,4 cae cure U = (00,00, Ya a Chia eoegudeiten Pes a P ‘hang the ere ner [a i moving Ps oF)» » gue 28, Belin cure. (0) A lat degree Bes cur on th a ver U = (ooqanoon gents t LiL ttf) squminecav wing tee co Selbeo ed n= 160,56 %5 ee ob 3.10 ‘The cotiity and difeetbiity of Co) flow fom that of the (Nene) (ane Cle) i jst «Baer combination ofthe Ny). Ts Giz) ay irene athe eto ot nerd ‘lust pi tines cota dillon s knot of pic Frgure'310stums quart curve (p=) The curve cain (che fest dative beatin bt he Sone i ot) tal etre fiw ot mitiicy 1. At the debe hae, Ca) only Cc ‘anh here ac (evil cots). gure 31 shows ‘The Deaton and Propet of Bape Cares 80 ® % ue 39. opine care of ier ge, ng the ont pays. at edi on he sin twtr, He,t ws cars ‘erthesne bt ft, Ny tr es el Bt ee {iter we towne thant avin bt cae sensing beds epsion Geshe 34, Ty ‘aes tn St date feos a ein son a SS in Se th yin agi) = ent PoP). Fg Sem cece nh enti = bet ok Ct te dni Tee eae {ts oth at dere ta el ot a a derivatives. Thus, cubies are generally adequate for visual ae % ae: uy 3:10 A gat even Y= 00,0, 9h 3h 1) wth acy “3 (0.0.0.4 35,96 A sata(9 apne Ces a Sure ae % Pia 811 A dai ce = (00.0, hy hI ene ‘Sembee coal P3cth he pole (and sorties fl) oe tp cinder) contol ott, Figure 31 shows aqudratecave with daub contra pi: yor, The inertng parton of his curve in between CUA) ad igs inde, Cis) = Pew Py. andthe carve nts been {Gd and Go) and Cf) and CR), are seg Ke. This lions fom Property 9.5), Cla) tm the convex hal of PPPs (one) Itc [v0 5). Ratherore, sce the Eat = Ys he nukipty = 1 {he car mnt be cantina Cee eve thought asa ap (vs ‘Tecontinty), This ra reno oe saga ofthe Bae derative ‘stor sing io ser (ontinouly) at w= In the pnt seson ene tha be deste ar a Ys proportional to the dire, yy Pguoe St and 31h are cube examples sing the sane pate 232. Acie care of U = (00,003 4 lest C emo BOS ands and camo “The Deseo Bape Curve 91 B Fe 31 Agua ce U = (0.080, Yh = Bea de oul pag iacling ele otal pol, Py = Ps, but with different knot veetors. ae 33 The Der ives of a B-spline Curve "a CM) date dir of dy hin a ty omputing he Hb det of he bat fet (oe fanaa pra ere oe) = Sor, ax Consider the uae of Seton 26, wih ede oA om By (27) wee v= (0.00, 1 lows eae2 Baptin Care and Sts ‘Te Darina Bapln Cue 88 he degree of the are he not the conta point. ‘Oupat is the aay CAC), where xD ithe Rh deratv, O-< Sa We ‘se Algorithms 42:1 and 42.3. A Toad ay dere), sed str he ‘deci of Cheb fins, \\ ee Teese feelers ante! : scariet e 8 qostickers « ensue See ‘ G0) «0.0; for (30: Joop: 349 7s 2 aon rtp ) Now tne of fsng we wast to formaly diferetiat he p-dgee sole care, n \ 60) = 60", 4 : © From Bap (33) and (27) we obtain Frew. cube ce ith detec sit Py = PU = 00, Ya . Ii e= (000 nah ce -Sm,cor, [An algorithm to compute the it on & pli curve and al deities up toad iclng the that Bite wae falls We allow d > p lthongh th dervaiver ae On thi cave (oe wourtionl ears) thse deat are tecety fr rtm cares. np the algo 2,4, and the Bespline ‘hve dif (thoughout theremin of ths boo) by(4 apie Carn and Sure =) (PrP “The tan ls term evaluate top, which Oy dition, Ths C0 Fes Erica st@ were 04 Now let" be the kt war oti by dropping he Bist and st ats os from te (U7 has m= 1 knots) Than ty to check that he function, ompate oa U eal 10 Nays) sop on Thus 0) = Some), oo ie by Ba (84), Ue Nay (a) a amp on (@~1)dedepe Bepine cur Bas. Let Cla) = hg Nal) be aura carve defied on 10 = (0.0.46 Yetta) ‘Then U" = (00,3696 1,1} a0 a 13.9 Reclng tbat & ‘Toe Devinn of «Bape Curve 05 ‘Clu and Ca) ar sown ia Figs 3.158 and 318, rpc Bx8.2 Lat Cla) = Thy Nsla)P be a abl cue died on = (40,00, 96,96 46 1,43) Then U" = (0,0,0.36.4.4h,1.11} and ©) att ©) ace sow n Figures 3.288 a 3.16 espe Noe Set tt C6) gua are ith a a te Lat inde Bicker curve & a Bepliae care on T= (Osh) foo inter kts), Ea. (34) recs to Q, W{Fias~P) orc” Stee n= pand Nyy ala) = Bae eh {the Hernten otros, (26) ic quilt 6 By (19)ew ~ cb \ J pce 3:15. 0) Aged carson = (0,00 Ys yt); () the dain (sok eanay ‘The Decisive ofa Bpline Carve 87 ew ® ig 3.160) A cae rs 7 = 040.00, oh, () he guna ‘deacte came oe Ua {000 th hth ‘heft dein tthe nol of « Bepliecurve are given by c= a= 2H 10 = = F--) ew 2 Qs (Py Pea) 6 (oce Examples 3.1 and x32, and Figures 3.15() and (b) and Figures 3.16 (@) and (b)). Nove tha in Fgues 3.190 and 3160 the drvatv vectors ad Spey a se verter vinati, y Since Cu) isa Bspline curve, we apply Bas (84) through (36) recursively octal higher derives. Letting Pi cw =0% Then a) = Fem star 6 ® wn pM (Pai) oo8 Pape Cures and Sertice gue 216 (Comte) S vee Algorithm 43.31 nore implementation of Bq, (88). I computes te cntol pins fl Garvatv ares up to nd neling he th Seretive (ip). On outpt, PED) the th conte pot othe Kh dratve lurve where O< F< dat St Sry hry “Onn ry= ny allot (Ce compare coseeh pointe of curve derivatives */ fe Tapes yp? derine2 #7 Dose: Bs for (ior ter 4) ‘etontid = Pies) for (ied; Keds BO) ‘ ap = pasts for (60; seen 100) Pa) = tnpeCPat (6e2]-PKD AD D/ Wiese ete sing a, (38), we caput the scond derivative a the enol, w= 0, of sBeplne care > 1) cM) = PE (Pt!) Pp) ane stislets = eee am (ere) (eer tupedP BL <0) ateelP 4 B) as) (aap tmepaPat a OH tee te Notice that fr Bsr carves hen equations rece tothe cmeponing esos of Eq (110). Figure 317 shows the quadratic care of gue 3, ih the vector: C0) and C1). Cu) plete sehen care, Te it se comtane (bt ifr!) vector each of he tre tara 73) 156.36), and (46) ‘ie le this Section wit another agit to compute the poi on 2B solne curve andl derives opto and nlaing the sth dative a ed ‘rae (compare with Algorithm 13.2). The algorithm is based on (38) So Algo 43.3. We sue ¢roting, nSanseFus, whic ea mle Iodication of taetePane (Algor 2-2), to earn al tao bai ie ons af all degre fom 0 up top. In parler, HES i he vale of he ‘ihre base anton, Nase scaomnat 19.4 GurveDertveg2te, Ue" compute carve 7 oatpues Off es wince109 Bape Care and Src omy oo) \ gue 257. The ol divi endplate care of ie 3.158 for Gerpet; keds Hee) CKD = 0.0 Figs 318showe cai curve with i, seed, an ed dervtves computed ‘tu 3p (Th erates are alo down by 3) 3.4 Definition and Properties of B-spline Surfaces, A Bespin surface obtlned by taking a bidetonal ne of ex pins, ‘oo knot veer and the produce of the enivarate pie functions 8.0 = SES NMP ew Detain ad Proprio Bap Sue 10 6 Be oe oe 8 | | fomw ow 8 A ar on = 4000 Yo i a Sua! “ 12 Gecs8tpnonters Y= Qed 1 has +1 kos, aed V ba 9-1, Baton (2) ake the fom, rentpel ands a4 ax) ‘Let U and (Na) be the kn eto an cic bse anton of Pg $25, sid (Nja(0)} the quae bss fantins define on V = {0,00 93 iota 318 and 3.190 hw the tens prod bas ein NealeiNeo) and Naa(e)Naa(), pete. Pigues $23.25 show ena ples of Bie src ie sn rete osm po on a api srt a (2) 1 Gnd he ot span in which ws ny fe) (Alain 2.8); 2 compute the nowaro bas ection Ni-psfay Nal) (2-2) 8 fad the kt span in wich wi, ty ef je) (3-4) 4 compute the nna ba facto Ng M(t) 2-2102 apn Cave and Sens ® Figure 3.19 Cubic ations () Max Nel) STO. taht a Y= fO00, yt aleaiok a 5 mutiny th ves fhe ton ase ations withthe corexponding ‘trl pit “Th nt te tak the oe 9) = [Mag a N| inpsksi jrastsy (ay) atin aod Propet of Balin Sure 103 ‘Note that Nay) "01% (p41) ow ter ofscalas [Pas] +) (a2) ‘ae of onl pons ad [A(e)] a (+1) ean et of wala Example and hg Eee Neale) alo) Rey with = (0.0.04 Yo ota) (0.0.0, 16, 16 12,0) (Compute (1,94). Then ua and [),and H(53)-fsQ) 950) s()] ns pe name ma a]|6@) Ee ag Alert 3.6 computes he pol ona Bp wurac ed() vale or aici i hs ocd ary, ap, ose the vectra pod, Lg) ay]. The aking vostro pot (a agp) then iio trilthe vestry) sucanrran 13.6 SurtacePoae(a,p,0,2,4,¥,7.2,¥.8) {7+ Compute surface post ®/ fe apuee sn 1 sepa: 8727 ” for Cindy 2eegs 140) ind = vopaa-ges For (aed; kept) ‘aap = temp ¢ AdsPCainde) (ena oes wise: } )104 Begins Cares ad Suro @ Fig 30. Bape sti, 0) The trl (0) the as. “The popes of he tenor product Nas functions follow fm the care speong pope ofthe elves cin ted a Chl P32 Newnes: NalWDNyl) 2 0 fr al 3.8.06 7218 Patino ye Fla Dye Ml DN) = fr al (0) fs] = oan Peas Hmmm ag, U = (OonOs rot) aad Vo (ene Oshenll Ahan Neale) = Bee) Bynts) al 55 at sts of ‘rnin eas ent to prods of Bein ami PEAS MlONja() = 0 if (0) ute the rctanele fe tuepes)® Tetra me Fees 3190 an 8:18), 70.6 In any gen etn as) a ction aro nn, nr Sty ad i yess tmnt (9 +190 +2) eMC) eto pS > O and ¢ > 0, en Nyy) Nyl0) atin exact ne masini fs oo Figures 190 and 1905 3.18 Interior to the rectangles fred by the and hoot ls, where the fonction sa iit ply ll arti eaves of Ne) [Nja(@) ext of wu kot (© kot) p= (9) tines dire ‘Goa the wo) deta wwe the lic f the not Ta ue 228 (Conte) Figure 3.1 the tyra derivative of N40) wth recto 17 daconinoasaloug te ot ne» = 3p whee Nexo) hart cusp. ‘The soon pal dart wth pct tori everyere cnn tte (a) eC contin spine ues ave the flowing properties F9 Hn sp, maa = onde nt) amd Vm ooaBdonndl thn.) srr slo 9.05 19.20 ‘The ust th creel pointe 50) = Pas, SUD = Pap Sst = Pane an y= Boe fe Boo ‘ha, les io a ae aN plat) 1 (0% mel 0.21 fine iran: an afle tuafermaton I ppl tothe mace by ‘ppg it he cata point ths olows fom 3.13, 8.22 Stra cones bl property i (40) € fest) ta thee Stu) i inthe ones lof th eet pins Pay io" p 2S sa p95 pg low) Analg to Agri 419.5 this fist prooms, with helt sep being veto voter ‘outpestion fe fn NB) Pol Ley] DSkHIS Ad won —psr aspen open 9565 opm (818) os wn uta te ar B.00, ee ELC te dati oe) with Sper eh tm aoe ee Rael oc tea wed ey Dat ‘stores the vectoe/matrix product, [¥,9(a)]” [Ps], while tb | ‘mult Find wie (Ween 1 Zak ange ad oe cate i ef ea tines Secrivales a. pe Sagat rac etic : a aut ata(eps for Ghepets keds bv) EO Keown iy) son = 00; for Gegets hed 160) Yor (leo; ket]; Het) SLU) = 0.0; span PindSpance pO Deralaciehn epaay2,9,00,0,R0; span = FindSpanta, ays? SetafanePuns(rspan,y gs for (ero; kent 2) i or (ero: seq) 209) teapiad = 0.05 for (2-0: reps 34 ) mr Sent + mon Gn eteen-pn gagsfor iso, Leas 144) fanaa = 0.0: for aso sens 409) ‘eG a} “COI + wv tte; d 1 Fite 2.26 shows «Babe nrface dite Best ad sco pt devises. Nave that tw devine ate al down by or beter tin "et formally diferent Sse). With eect tou we hve Sue Baton Faulo (RE Moles) ex) Lande ee igure 2.26. A abe uae dod on U = V = {0000 {dante prt es cpt t= aed 9 = Devt af a Boptne Suace 113 boar ae (6) o each of th C(x) and euticting inte (aig weet on an uti Sse) = EF Mele” roy a PUP an Rea Fa oe 4) 0 (tare vos : stem 00) -SEnuoninio® on) wien ag BeBe Pier ou (Gd senda Applying iat Ba, (3.20), then Bg, (821 ik EE omawrg? em whee nd 00 and V0 age defined prev inact oe Fea8O = TS Wo aleieRs? aay hee et weg ten Wes 8ing a (8.20) (82), me eve fl ermal oe coe derivatives Por xa, a the corer (4) ~ (00) we ve 84000) = Ris" = 5B (Pio Pos) Pig = 5 (Pas ~ Pao) (a2) ny? = (HGP) (Pa Pes Pao Pas Now let y= 0a y= 0, Frm he properties of the bass actos sy {eae that the scares Cy) ad C0) a ven by Cul =ENalOPy Cal = LMR rm By (8.1) llows shat 8400.9) = C10) $10.0) C00) Alert 43.7 comptes all (oe optonaly some) ofthe control points, it ofthe deities op to ocr (0-2 +1 poq alow On out HLA) 2 te drole of Sus} ft with rope tow aad ine wth respect foe Surtacberivog2(s.p 7.8.98) Je conte serace derivatives */ ie tape “ fe tone: 7 ae aiateas for epett kets ¥60) for Got; Leeks 16) SKLIO = 0.0; ev ainda; for eget Yet; 160) for Qed; ket; Ee) SKLMIO = 0.05 pan = Finjan p00 Teter Capen 2teiohne pan Surtaceoerivoeete 0 or (eo; Renda HH) i f= miner); for Geos teas 140) Sule) = 0.0 for (1d; kegels S40) fap = 0.0: for ed, Ja; $40) “mp = tp a) fh oPRL DD 0) (51; julia etn + tte116, Bespin Curves and Surfaces xencwes 18: Why dequeue con pags at kt? 13.2, Mn ndash a lcton pl, mat ea a he) cg 24 Ua ae at tnd Oa) = Fg a) an he hot car Fe coat {Aan on ey bean he and eh he ce 1 We he ie OC? ACP me wat ater fC) fet 115 oe what 4. Wa canta acing ves th tema a (7? winaed peat al) nor 0.460} and By = 10) pete Say Seek Oe) Sante Oh hess ap th a war ek Oh $0, are eae of Fle 3, ne th cant pts {P= (2.0, ith eotemneeo ea) ka urcare Gane be Gay cope ‘onda sue, ©) Sha Ca) er ed eb ra Iona pte o C0), ay BPP = G0) ad FE = CU Compre Soya By at) Gay 217, Anas ra nc mail nie mai tt poles (mn figes33¢001929, Wich wy ound cre ag OMLICAC nh tthe Csr eh ne 2 Cnet Depa ate Se) = Eng DN ee = (0.00%, ¥= (0.00.11) nt Re= 09) P=0.03) Re=GOs) By F022) My =0.28) Pi =625) By FH 040) P= (48) Pe GAS) P= (040) Compute Sn fn) yen the onus Ble se fate nd mail Ine the appropri oi pointe 38. Dee the xpesiom fr (0), Sle, el aoe) ate tree caren toes econ te Ba) 210. Lat Stas) be at a Baa 34. Sitch he ce Ug Ba. (22) and (G2, compute the sar Sy) and Sy). Sach tae fo suis Vane ‘Ey Gel) and eke erie daed In Een 0, compe the mito para ‘ities Seto ‘iu come of mace’ Wit the ome ‘Soa ae ou ‘CHAPTER FOUR, Rational B-spline Curves and Surfaces 4.1 Introduction es cape we combine th concep of Sci and 8 f Cape ad thon Chapa 3 to daa Nos Rata B Sine (NURDS) cones ‘to mt We ren Sentosa gon ppt ie et ‘ns forte ders of NURS ctr hd arc te ‘it raaana outa Te ere pblshel wee os NUNES [Nes Ts A morose a bold ie 42 Definition and Properties of NURBS Curves, ‘A pteegee NURBS crv is deine bay Dslr, ow = 5 asush «a EMotoiw ste (Fete cn ining cnr po) th) ae 5 ets ste Ve) athe ede Bane ot c= npr mr) ft ae ee em ed Ue atypia pnbcd118 Rational B-spline Carver ad Suro ea sm jo) dm a» Llwey tis to rete By, 4) ne a oH) = Fm lodF “s) ‘Ta te) a the rata octets hy li afin i Here es hr he iting papi ind om (2) al repel pert eat Neamt Ry) 8 na ath Foz Paton ony le) =1 fale Rh M3 Ray hl) Pea ep O al Ro) lyon mao ter Sha Ps cl map Rafe) =O bruger Pema ay He ere A hl te mae fo oes, Boe Tadao fa ps eet fa) ee ter a to an, whe ear iii eg nwo tie oh ei Se PO oe a a hes) = Ml) a ee Hl) a ee ey trae Cea Sono cinwbeat ropa PP orig npn pom hit och 4.8 ©(0) = Py and C(1) = Ps thi awe fom P43 4.9. Afi inmcinnce: an afin tration Se appled tothe carve by oobi tt the conta pont (9.4, Sen 3.1): NURBS carves ‘realbmsiat uncer propose potions (aT; Png) a fet ‘ich ie imporan in canputer abies 4.20 Song conver hal opr: € [ot hen Ca) Bs within the eaves ull of the eontot points Py, (se Figure 4, where {Ce for we [i (shed seme coal inthe cane all ae 2. f= (0.04112) ad, (3FRetc HUES ar sual tne en ‘Dainition and Proper of NURBS Cures ove) = (119,440. (0 BB he dt ren) till fm 4.4, 2, and (innit insole on he erin kt spas andi yh ‘ines diferente ats kat of ltgty by asa dmiaishing property: no plan has more intestine wth te cartiga rt nid en oath od, te NURS cr why in atid ie an, ne {be Nao) wef Bo comme Ep (3) ml (0) ih 1 (1) Tl togter wih 27 pnt URES corey {sh nonrational Bap an tot aaa Be sree120 Rana ple Crs ad Stans 8.14 Local approximation: Ifthe conta pint, is mowed, othe weet ‘ar mga het nly tht portion ofthe curve onthe nara Pe fiope th fw fom #88. Propaty P48 very mpott for trac shape doses. Using NURDS arc, we can ute both contol poi oveent and weight odin 10 Mtv ice! shape ent Figucs 42-46 show the flo mofying ance She native the eft Rasim w [up then scree (aeease), the put C(e) mows cower t (Grberfom) P, and bees the ‘Gove spl tema (pio teny fon) Py Fursesmore, the moet of Che) fe Seal wt lng neigh ne (gue 40), In gue 40, Ese Sel i caagae Let Beclusn=0) a » “Tha the stat ine ln by Bae N pases trou Py, td oratory Ge wy = su; By ~ Cloyun) bs on thine segment beeen B ad Py We eon ope ltr chapter fete enor Besar cures, homngenous cortisol 2 tint teu eremting NURDS curves Let I be the peapctve a (Gren by Ba. (116) Por vn st of endpoints (F), and weights (04, mtu the woiied conta plots PE =(ez watz). Then de {ine the eonraloal(pcewne polyol) Bapline curve In owes N= clus owe Sm oore as) Fe 42 Rata cbr pln caves wi wy ang Petition ad Propet of NURBS Cures 21 « %e os he © ws 5, Te ai tae st bh a fF 2) 0) Aron he eect map Ht Os) se te crap ‘pe are ner it ental gy 4 {Svoiorr} et) (or122 Rational Bapline Carver and Surfaces : Define sd Propet of NURS Curves 125. es Fie 4A. Raton quai av with ws ying Smo = -Sa, SK JP, ‘We fr intrchangebly o iter ©) or Cu) athe NURBS cur, though sMialyspating, (oi ota ratoal carve Example Bat LeU = (0,00,1,2,8,8,3), (0) eth (Poe Pah =" 40.0,(0,0,(42) (41), GA) We compute the pon the ‘atonal Bie ow win the kot pan a) abd ue 45, The qn ts non fr he ce of Pw (hn =the Ot : Mat) =0 a tereder Laan toAgito 4 compet isto nl Bain ca te sre i cob, 43), Ley tame whe canted pt ‘ya aii ie ana sta ae see) eng EM mor P= Grn ds ‘zine! pn om Gro nd tessa! om Cl) (Guia ete he Bk we th tan = oe 2 Stree apc Crvra a. 0.0.8,0) 7 cate put on raion apline carve / 1 Se Sonu r fe ope: 827 spn pst. SCruatonnscrie fee Gres son goo ‘en Seineutpe-prls eSeun ye bee eon #7 ) 4.8 Derivatives of a NURBS Curve esti of atonal anesons are cmp, imlrngdenominatxs to high ower. In Sacion 3.3 we deloped fama ad alge to compute the ‘trative of motto Bape cares, Thon fala snd slgpt apy of cours, to G> (a), since it ntzainl earve in four diners sce I ‘suction we develop emule that expr the dative of CC) lems "he deaies of CC). — weit) _ Ala) wa) ~ we) ce Au) is the vector-land faction white cortinates are the es ee Soares of O(a) (Ae) ite numerator f Ef). Ta Ct = MDa) ow) mA) —Wea)n(W) _ Ale) —w ONC) = Mel vigmtdety _ Kevin) So AC) cf) rae ini of C0) wah ater ng Ep. (4) (he). We sop Lge drat yi teeing AC) wig Let le ae = 1%) = 04)" $("Jwmae-9 =H (are from which we bn 119 -E (Yue 6%) 2 as) "tn (8) ge the dct of Cl) in to heh eave Me a it h(i rf Cl nt fe ‘ets AD wa ae dwg es By 83) Mg ‘43.2 or Bq, (3.8) and Algorithm 43.4. pines “dere xen rh dies of NURBS eae at cetpit (oO Be 5) sels AO= FZ ah-wn) ve196 Ratios Bape Cae Sura set to Ba xP —waR)— Eterm cg fo ih ine co Rm wo a (Py Pos) (aan) Antepady OW) = 24.2. Consler the quire ration! Bier crear are pwn is Seton 14 {Fire 1100) Tha sa NURDS curve o the bat eter U = (0,00, tet, wth {B) = (0)061(03)) aad (04) = 0412). From Bap (49) and (410) we ave (PL) = (0.2) rom Ba. (43) or) = R= WIC) = wCO, om B (80) of Ba (1.10) (0) =2(oyPs— 20, HF) sd = = Boy 05) roe w/0) = 20 ~ wy i follow hat cr) 2 fovPy—0.P, HP Aon WHF. — PI) (ey —20. +0) = 28) =P, 42P, PA) = HCP P= ‘The computation of ©) is Wt a am exec ‘Now asset ue nd, tht the ero tough the th deities [A(a) ad we) hve ben computed and oad it the aay ders td wes respec, C>(e) Aur Son diferente ade courdinnes spared ‘if into adore and wera Algritza M2 computes the pay Co), nd te erties, (a), 1 k Ose 0h Re) ata mis Defison and Proper of NURBS Surtns 129 | Pas oN 1 wh th at the neigh 1 0 = (0 mere NURS tae (000 9b th) CoteFrgure 49, Resbic NURDS sae dete ty the ott in le 8, with fo... st} snd th he se wei a Fie 4.29 Ral.) Ral) = Ra) ~ Ra Non Dieta recat Reeves: eect fo at ie PEGG) sins te) Soto, shee the ail tit a.m Wallmy =a br 0312806) 5m anda #0 ten Ryle) = Nato as apt. 1-.22 yd te lowe npr wee proprio Ui 4.28 Core pt negli: 8,0) = Ro, $0) = Searan 80-1 Paws 4.26 Als etn mae cmon ap Ue ute iy Pecwiorenr epee 1.25 Seo cme hil propery ame wy 2 Dr a (9) € ree yen eae) Waco aft co oer sp rma ee TEEa 1.26 tou maine ty om ty gd cs he sedan yn fang cn) es 4.27 Nout aps er atl Dak to we yc Senta a oy $1051) = ‘Definition and Propertias of NURBS Surfaces 131. 74.28 Diecentnity: fu) ip (q~) ines deeb with respet fou) ata tno (eka) ofmulipty & We ark tha hae no cn variation dimiihing property for NURS theese Pre), "We cn ut bth costo point oven! and weight odieation olay ‘hang the shape of NURS sures, Figures 10 and 411 how the eft om the ae fueton Rye) and the sure shape when ing eh 5 rode. Compare thre Rous with Figures $10 aa $2005 Qual, {he et an Ue sce Aso (8) og) = fry tm ‘ou teres (Sere) he pin 8x) mows csr to (latin fos) Py ‘nd ence he src pled tomard push exay fom) Pu. Asi theese fer carves the movement of (0) ang aright linea Figure 4.12 (40) eel ad ya changing Kat ay ‘Ten he eight ie dt by 8 and M passthrough Py, al foal soya, 0 tna < 06 Soa = Slava) ew on tis ne segment between 8 od Pa wate ® gue 410. The a ton Ra 0,040 Ys sh) and veo Hake a= ea) 2188) fo was =132 Rana apie Curves a See SmstnsadPs, wate Py = (gest). Tem ‘nerinterhangobly to bar 3° 0} (60) a peaking, Sys) ta temor product peers ply sce in fou. ‘Semanal space S(0) i plein atonal sac in thee-diensoel sre i ot ep ine the Ra(se) ate mt produ of Beample Bet.9 Let S*(us) = EoD = (60.0123,448.5.5) wot ¥=(00.01,2.5,3) 1 us ere the suaco at (0,0) = (1). Then w€ oy) and 2 [yey td ro Soto 32 apd 2 re kn tha al NaC th Defalon and Propo NURS Surfin 135 pie 611, Cae ganda ce irgl= Pojetingyilas mat =} 2.41) (0.6.42) (40.82) 02,24,12.6) 4.241) (86.42) (0.2.4) (40.82) (02,2612,6) (iets (0.6.42) 6.6.42) creping to Fe $10, th te cane ‘oir eter anton 0) n=O) Natt) =0 (02.03 (46.02) 420, i=23, nuns (20) (46.0, (420.0,pw 411. (Contin) lest 12,6 can be adap wo compute & polo a rains Bie stlace by sly alling the ary’ to contain wel onl pit (se ey scouting the four denn race ait a Se aed net he ie 50 Sofa the ed ofthe lost, for Gd; Legs ‘ fexpt = 0.03 Tor Oo; Kp; 4-9 eopCA) = empCh) + Hae sPeaspas-ptel(espanght; » Be = 0.0; foe G0; 16g; 169 ew Se ome seap (Os sos ) Fg 412 Modienton othe wei ‘iy applying Be (6.14) and (25), we obtain Hepatic curves om 8 [NURBS sre Fir fw =. CLOSET MwOMIIP — 410) ~ Ero (Sree) = Exar o ou) =F Mule Analogy oR) =m ,KH API) (any woe FC) = SMPs1 Ratna! Bape Cres rae (0%) ag dag NURDS er on he et ct V() ee te SS an Le) wd Oa) Pre (0) = HCH) = HIS". 0) = 009) Cu (0) = HER} = HSM} =Slem) (418) 4.5. Derivatives of a NURBS Surface "The derivatives of Sy) ae competed slg Bas (3.17482). We om ‘Severna forthe eratives of (0) i terms of te of 5° (0). Let oe)S(ue) _ fw) ia COMMIS) where Ay) the mumeratar of (u)(B Lt). Then satu) = Astin) sales) aw a where denotes thera ‘goer AM = [sy]! (SC) e 0200" =i F2({) iain 32())unrnrs 20806" tows that 2 Shaner (EC) Eger 8 4) am aay amy _ a Pra (20 (19) nd (2 Zot aay Sans 9 sere ath (oun Base + (22 -wus)m) ws Figure 4.1 shows the St: and scan order parti davtves of « NURBS Sf, ‘The Swe pri are led down by "and hw Sond paral ae lel oe by ‘Nowa (40) asad ha al dear AD, woe 20 and 0S F-+1 dba been computed ad Jaded lato tho toys Ars and ‘ar, resectily. Alpin 44 computes the pot Su) and the dere tee a0}, OS RL Sa BMC conta the preconpted binomial ‘octets Tae Gurtacbertea(Adere ere, S41) {J+ Compute SCie0) derivatives 4/ efron SeCaye) dertvtivee 4/ Ieper derevedore,2 #/ 1 fe Oanpat: Set f for (eds Rens 2) Tor (0; kek; 160) ‘ = Aders00.005 for Getz joni 309 sn (1 {)edere(0) 245K (1-1518 fatima Bape Cures and Sree L, Pie 438. The fe: od contri pl te a be NURS es compel see Saale te for (iets Lean) 129 fy = soba Gtewnats orem: we'oo for Get; Jena; joo) vas 02 + bial (s)eederets (3)+SHL (2-4) ej}; poe bamliden: HL) = w/etorsf01(01; } , Exencises 4a, LeU = 1000, 109) and fun) Ett} Ug the Coe ‘tocar ema (723) ana foot ti goat aa ‘ncn na) o¢ 2" papsof cae enon shown gre ‘Rene {Pes Ba ~ (00 ya Cth a coed po = ‘tne’ Comput ata cordate nso ad ering 0) {bets Hh 4.2 eo pe 4.24 gra Bier ce a; ome Sun 448 Lt a) = Fg NPT be ne ge ey an we Bh = fh oven tan hand b= sh) Dee er cto ‘tng © tytn of sn nm yx) a re Shey tof Conte C0) ne By (69 ant 0) ng Ee 8) (G5) thay” Cand pate seh ©) sed 0) 44 Lt Soe) = Big Sg Ml 0) P te [Pa Pas hs Pal = {0 01.9}.2:18005, umn oacont)= Cavity aed Y= {trois he a ead a ay) 82 {en tmnt ton sh; as) and oh fe 4, re (0) Ber dee tn rata opr cn C0) Siete, os ssdey= op Tha ouster Oe) anh Cat TE hlad c= rape cha gar ts by aa) =O) Te Sus) = Far Ma) M Eb een gin Bae 444 Sic Noa) = Noa) = Ya hows that (4) =H(eeo+res+Pterens) ‘amo 811, Se Sel 8), Sah 18FIVE Fundamental Geometric Algorithms 5.1 Introduction chapter We preset ve tos which are fandaneatl ine inpewentton| tf Beplae carves nad surf, thse ae kao nmartng, hot refaeent, ot nur, dpe elevation, and dee reduction. We dovate a ston to each {op abl the not ech soon eh +e stazemet ofthe problem (6 ure tof pation 1 easieation ofthe problem an solution appro curve); 1st of ween whee more rigorous derivations and pots can be found + th ition forma cnr) + meld examples (ure) 1 camper lec, 1 expe of apes {the mio fo urinates of he srr algorithms 5.2 Knot Insertion Lat C*(a) = 32g Mos) PY Bea NURBS curve defi on U = (4.-- Let ue fojytiy)s al eet ito U Yo foe the new knot eae 0” (= ta yh = Blagg = tytn layt — tn). Hy and Vo "ote the ear pas of eres dfn on Oat espets, then a WE pd ab) = din) 1 te Gms) ia eprom oD Eevee en ore)142 Fundamental Geometric Alerts ste th (a) ae te pb dee te etn 0 The ot Tar eit ste prc fermi the (a ire wat tly tan we {Lent danas ste ome o freee ‘items sv ee rn on ft os prt ctl Da git. Se "tng ited tiv once dn, 1 Rating cvs a src, 1 Tetra neo rr ote Bryn she cna ahi ow te {Qr} mF (61 can bots by mtg ands etee ota sn I meer «Exar 63) hen by ubelitting n+ 2 tbl vee fw ito Ba, (52) we obtain n0- ingly, ded asm of 42K equatns in the n+ 2 ular, Q omer, thre tt more ico ation Propet P22 and € fot) py ta : .. Datarr = Ter 6) feel fen tags ad 64 uations (63) and (64), together with he Una Idependene ofthe base funcins (Setion 24), imply that Dvosh=P=h Beton 6 pv They cam be exe in tems vee hy Nolo) gEa8, Reed BME Reals) (8) austion (56) prove by indction on and wing Ea, 2), Dak we oi the oct bere af ite mesy. Prot ng ved diferencs are ound [Datars Bots Lat) or broity we nw wet Nr Nig(a)-Subtatng Ba (5.6) nto Ba, (6.3) = ROE pt Mein By wt oniets and ing the Knot vector Ua place of 0, we obtain 0 ao Qe.» PR 2) + (Qe Stha Pee ata) + 8i(ay- So pr Sepp.) « sea(aty.- Pr) Misterttekmet aoa, i. ‘and note thas 7 tegen Beet «9 ‘sing the int independence feb funtion, ad abating Ea (6.8) sd (63) into Ea (5.7), ys at, =PY QF oPP Hd —a)PE, k-ptisisk G1 = PY a0) Flyby combining Es. (6.) and (6.0) we olan the formula for computing ‘the new conta pot Qf Ba (8) tat OP = aaPE + -adPE, an)wate 1 esky a koptisisk Okt Bastion (61) say that ony p new contol pats mast be computed, For Ipeviy we we P ase of Pen exaipleEx5-1 E56 Examples Bab. Let p= B and U = (00,0,0,1,2,345,5,5,8}. The conta pas te PoeosBy. We itt @= He Thon © fase) and B= 8. ‘Phan Gy 2 Pons Qs Po and Qy = Pay y= Py. Anping iq (11) we dad hat ‘igure 64a shows the contol pujgon bere and afr the insertion, fod igure 1b showe te ta fnetins ble ad fete inwertion. ‘The bom pt of Figs show he rato aed to subdiviothe paleo is 126.2 Vee the same crv sein Et that p= 3, U = (00.0,0,23,45, Ssh and Py, Py Ths tne we net hoot which ray in the int ecto ely = 2. Thon © [ugh k= 5, and again we femme Qs, Qy a "The conte polygons and bess functions, before and fer kk ie ‘hon, ae shorn gue 824 and 826, From Eg, (56) op a ey Fc 51 Kot non ft ace cure) The otal ag ter sting wei tn hot ver (0,00 25.08 3,55): (0) the Oana ‘hone (used) be acta re ae a ton that Ng = Ne. As we did previously, ober the salvia ofthe eps oan by mapping the approprne sais shown i he otoe, at Figure 25. Clty, ot insertion sin to th del agit or Bie cre, din face they are agian fr ave wth ontario ki ey 4 Be fare! However, ann t Example 35,1 and Figure 5a sos tht he “iowa ltrplation © na he ae om each of hep ngs othe etl ply Inde the example, a3 = Me ag = Yh abl a = Bae othe previMe Panama Gore Agee a recat erst tc pe Eeioeaaeee cxamples, 1 dene he 4 We rie at the general alt: Foe $= Bsc Ht By ‘tego the cote! polygon Le PEAY and dy tenth (6) =] PPPs) Wie mpiize that de mate in our iensonal(bomogeneous) space Le setts it b= VRPT ea FRET With ng Lay we asi the tes j = 0, fd 3b aod Pgues Sm and 628. Br fad 1 3 ‘the eet ofthe kot sp ute) alae ty) Sta! 3) ‘Tes prone ino segments Lf, wow lengths ae Na ay ‘espectivy, Nae tin Xf and enc das io. For example = d su? ie 5. Kot natn ino 4 ie carve te tina ‘The ave bdo oo (e072 33.88) 0 ons, tating atthe index bepst (eas) Algo 5.1 implants Bq (5.15). I compute the new eure core ponding to the isertion of © (oy gs) F tn where sued that ho ) { Qobept) = Pulp: Werte) = ULI: } gele pil = eedep); for Get; Lop: ) fad = ph (ta = oberfee 303); ie Gbetaies) = 0-0) ‘etindnt} = Ova;® pw $37 Resin ie lie igure 89, () hid mip elon i diag) the md ia ts he an) ed ‘ewe 317 (Conn) ‘ ita = anfa/Coerdien)-Uls-pe0) tlt ateawtit) eoancwnntieas ) earte) © X65 ) } et 8" (9) = Fg Nog (0)PE ee NURES sro Wad VA knot wt dd ape y stp apg lc, 15.t othe ms cna of coral poate AY sla repr nT ‘eosin of Alin 463 The gs a be erin that ean Stet pra rate og” alas fh fas ae a a ap tothe mame rch ft mr clu of ad po), het a Satin Tet tnntotinctsurface(s.9,¥,PsK the Dae bar) (fe tine surfed tear "a Iopats aspieraehPecarstit of 1o eats Wevinasa o108 Padme Gennes Agrithine 6 (ie = vpinecriom) “a save unatared ctrl pes / ox (rome ovens Fore) ‘ for cero; xeeep; Ke¥) Ov roe) = Pete (roel for Gobeay keen, Koo) Qulkves Ceoad = Path Coal: } for (ers 395 J) taste GGIOUE) a Da Seagate ha: for Corn) QuDe-pHl roe) = Pulp roe: ) fot (08 <<) QvDep Hl roe) = Quy) oe for sts 1p; 16) i fd = pes gue ait Plana = 0.0) for (roe) Goliad (rs) = Qatint (roe; c fortron) ‘elsad-t} foe = ‘tesa and) oe] (1.0-ab} oan roe; , ) ard = XG; = ea y ) ie air = orm paroneters seseched */ ) , ‘An important ppition of not nemo i the pote of decomposing 2 NUMAS Cae ina Re conten (oar danse otal seats. This Me eso when converting a NURS curve to apotber pin fom, et the GES Paranete Spine Carve, Esti type 112 IGE. Ta such ¢ comers, the at tap to dome ther ne cen ser for. The Bee ‘tl pits ft nena caine yen ach ater Katt ‘hae aniipcy phe dowe at top 1 pas through U and bul the fienentwetar 2 eal Alun 16.4 igus 18a 5180 show a cubic carve and its conresponding bss fine tis Figures i and 8 ow th se ered ts eco aer ‘decomposition. The conta ent in Figure Iba ae the Bir eonel pnt Sie eet Fen 8 8 wee » ge Acc ca) Th caved atl pg) be cn fined over (0,0, 00,1, 2,3,4, 44,4). =110 taal Game Aine © igre .19 Despair plein Bis uv vi, Ee dame) Te dsp cur ed cotl pales; () bs non ‘enc tt 13, an 3 wo he ach We vow give an algun which extracts alte Bier agents fies wothing om tt iy naa eleat manner. For convenience we op the (Cipro ous soto pss Figures 2a through £204 est ein {he lun, Let Gla) = Song Au) Be eb te with wo datiet Ine not an et QZ be tbe HU contol oie ofthe jth Ber segment, Tt, op j = 0.12" Nein in Figures 522 and $e tha whi the Ficus Conte piu of he sero segment, and QR, are bing ‘Senpuel (vo hou net, he lune Bese plats of the at me {Gftod Qa ato bing computed and store "sone major rebecca inompation, compare with wing ger tt renee ochre by esas the computation othe koe eon ‘nas (Bx BS) -Amume (ya the cent spent being proceed, ‘she aan be the ein of the sips ocurenes of Koo ad ‘Koot Refloement 171 ‘ue £20, A (cae x gaat) utc daca) The cna [Ohare ee (4000 si dl} and Y= (0.00% hb ‘Then, when we tart timer the nt eto hs te frm (eels) om® Pie 521, Pie ser uch dnntion va at fm.) The cone Soe) Baar cree pt wire 6th rginal mit of wy. By Ba, (6.15) the intone» = Teens geaurats te angular ‘Beaming Ea (6:18) a (622 eves wo fat: santa ab pein = agit a GRAM eatery ping dagal, «th mueraor in Ea (15) elas the sae, sayy Ufo the coeur ous “To hata thi, coer the example show in Figre 5.23. Ar the Sst ‘Pune etoced he kot vet tae ef 1 = (,0,0,0.0, 1h 3% Ys HDD} Notice iat the a along sthenterly diaguals ae S24, and especie, and that the mmeatr reas 02 ‘Aig A856 damp s NURS carve and earn ab ser segments (1a) ithe conta pot ofthe jh segment. The cal aay bas) ‘inns he lp, with Ue nin ied to tart 0,749.00 Ce peconpoce carve Sate Bésiar segunte +/@ » ee 522 Ostby ure dsamporision s)he oil ebi av) St BT ol hat mt) peared een gue 6:22 (Cot) wate @ em) Pe pets asp .0.Po +f ‘eset: minds / bees en ite @ <9 ee usa] = OD vis ane ep ‘ ner = ULGI-UG; f+ Manerator of alpha +/ Foo Geo; Sep 09 gel GD = POEs:176 adam Gcomti Algstms ‘1+ compute aod store alphas */ tor Gop, Dealt “upton jemat-i) = eanar/COaes)-U00)9: ipeult; fe lasere knot = ines #7 for Gas jor 309 Tame; /+ tase anny nev posses +/ fer Ueepr oes ‘ apes = apts fuGnsg be) = aipbovds tas) Od + .0-se goto wow Js contd point of #/ (etabel) eave = Qe(ahl (pl: nest segnent °/ ) t's abet; (+ bdster copint completed #/ wees) (je taissansen tor next seenant for Gop eps S09) OVEMTEGD + Poti] Algctho A.6 i an ea interface neweon 8 NURS stem and tn (aardwareo sites) which dpe Beer curves, With modientions, Ak (fet ove computes the Bsr spent cr ref, passes each one dow ‘ern, andorra eac wih the next. Dothing a rturned. Thee dieton + sone sb and om the argue st {se lool rage Gu) (leash p+ 1) ad Rext Qu eth p= 1) Herts Rois sve tell rato! pons of the ext sgment ater a segment has been comput a the coms nthe coe /* ‘etier Sopot conpleted of) past dowa fo ipa, + ing pt ot ih ys om Hrs) a An example a shown in Figure 5:20.24; for more dtl se [PiegOIb "Nunc 467 shows the opinion of «sfc deaepotion. The ro tinecompute i spe 4 NURS suc thats Beer in oneditction ts Bspln nthe fbr’ The voutine must be alld vice ance nthe wd ‘ect opt the Bers, an the he stp mse fl iat he rostne ‘ibe dont get the Br patches ‘Kaot Reflnement 177 oy a te teh a he ont ‘DeconposeSurface(a. i+ Docompase surfas 7 Oatput: mb,v ae (aur = vomacrion a A KA « Socotra creo tenee 6:24 (Cots) ‘ fe bets for U0; serp: 19) “or (eowoy own rovet) ‘eta (a Geol = Pets eo saute en) SE Catt) {et the aueerator and the alfa fo Grier aes ‘etal ioe) = antaoqetat] Od frond ‘(isOree) deta) (row) ) ova Mer (roe oo) ‘elabri izavel Ero) = Qos (el fron if (bm) foe Gopmles Sep: 160) for (roe) “eta feo = Peto pel Cros 7 4 ) Case = vraserr08) fparaasters sited ) ) An examples shown in Figure 5.25. 5.4 Knot Removal oot roel is the eee proces of ko into, Lat = EM 0Py oy) be dine 00 U, bl et be a tro ot of mit +a end kts ‘ent ranoved. Let U, denote the ht wer eae ly renova tes fm U (lest), Wosay that wt Ges rmovede Ca) har pei ‘epee fhe frm Oty) = PIT 62)190 Panamera! Goometee Algorithms pe $25, Sr dino they the lr path ae hows, wher Ney) te the bass fncsins on Ut, that i, Ba. (28) and (28) (homely and parametric reproaot the ane ce rom cer chapters kw that th bate fenetons Nf) which we onc a at only CP comtioue there. Futhrne abough one dos ‘ot grea expt sae than OP coo ft curve, the ont! pints TPE can bn peritionesck tha ho (p~ th or even igh) dai ‘Eontowou, Hoe, he Heat ioe eave i and oly fe eurve (abi crcontiouos a =a. important to note tht the conta ath with pect to C™(), ot Ho potion Ca) wih cn betaine ‘rer tough C=(0 set. "hot enol algorithm max do wo things 1+ Setermioe fk eons and ow my ims 1 compat the new antl pots Q eta can be fond in (0 "Koo eval an important ty in several applets: + The sandard tod to convert a spline ure sic epee in pe bs eto ape fr comer he segments pats) vo Bk fom ~ obtain Hplinerepeseattion by png the Bier segments ti aed ug ot wore nwt al terior nt bv lt ‘ty eqn to the dere, ~ removes many not (d hance contel pts) a the contin of {he ion crv (ua) allows + When steractiely shaping Bespin curves and surfaces, nots ar se {les oda inate mab conta pats whi can e nti ‘When como! pont removed, te eel of cont the hos a change (ream or dcr) bnce, lee modieaton completed tot ‘eam can fowl inorder toa he maw sompact prevention 1 sometnes ust to nk pin curs tog to form sampase| area The at sep ito make te carves compte, ey of coma ‘ie, stb en parnetr lo ofthe crv galt the sta aramatr ofthe (2 leh rv One ths one the mpetion ‘omplste yang inter Laos of mul elt te com ol ees Ko oan hab a ne ene We describe the knot remot proces wih an examgle. As wu, the a fortn operas the four eons ofthe contol pits, Bat we drop thew spent fr these of otto comenseze.” Caner the cube ‘uve of Fue 28. Assn the nga! curv Is deol by (FP) and Uo cpa) where the sapere onthe tae pens dances ie ap ‘amb in the ot remove pros, aed the ot ae ug = ag =O, Ssh wy =n = nig = 2 Comider removing u = = a) " Parlor Fee 5:8, Ke emo a cece with ih kteH) Setting w= ua = a earning term els sing =P an PE = PE =aP) + (0 —es)P mation (6:25) ut he gion ting =n hn Kt wet ee Ce Be (rise at ot ens). Fine hemo SMES tinned eee = Tn be rend Sone can be em hen P) 0)18 Fundamental Goat Alpine [Now wppose we wast to remove = email nes. Bach tine the ot lemon’ anv re dated (eB (5.28) andthe person the ‘itt pole ar faces. Mh he onions far emevig = the 2h pe PsGcedPy pps sis barp-a-o Ep ~osPisn Ber-p-attensjgr-att— = Ba Jor-p-ateen sie oa) “The acto which amples the impleminstion of kn remove hat i zncrallyuninown in adrance whither aot removable and iit show ay inc The (pment) new etal piste mast be compute in tenor Novag, ans ot known tan how many Hoots acon pots wl ben te ued, Alpin 15-8 tee to rama hw kot w= Re Se, Thee! commons Sine the degre elevated curve, Cet ms have the19 damental Gases Algitins aN o ewe 5:28 (Conte) same entity i fllows tat te sae knot mst awe mip m+ fr Gi) Th a nd B= fm.) = (Qe bent) (630) where hme ® a8 A ote ae ( “ (tated Soa oar = a maassea0sao%aMmL LNA aa ve (ooouomososne. iil)» ewe 331 Rem al ramble ats noth nto wing the tae 098. {eh Teco! a bth thn ng be) he os removed utes ld (B) arse ne of at utes"The ony semaining pon i to compute the (@,). An crus but very netic td to do hem tose 2 sao of Ur oats, Sting Sven a= ad valuing the Nia) and Napa) ot eppropriate + vals yes @ ‘ded ate fh lina ean the unas ‘ore cent int matbeatealy tore compen methas ao given by Prone [Pri by Cohen stat. (CobtS and by Prac and Poe [Prob The alg due to Pranch and Piper eth oat fen fo the geal cu bt Caen et alse snp and ficient alguihns lowing spel ese oh ae nar unde, and quotas t cate. A these gorithm rau he degre by 1 =P #0 @ Fie $35. Conta (6) te it Bl et degra, (2) he cd ‘lnc agen compte, ‘We rset another sgt bere which athenatealy snp, nd com- petitive wth that gies [ral particulary inte eave wher he dees tobe aid by core 1 (oe Pig). The otion cont of apping thew stap othe; while moving trou kt vector. The tp ae, 1 in he a of Al 45.6, tt th i men sn 2 dete elevate the th Beer segment; remove uneceaary kts veparating the (/~ I}sh an th segments ies 5.65 show the goa ate lg, The aa ie ‘ie with not weir U = {00,0041} Hi elevated to fourth ‘tye. The figures ar expan 1 the aii ene; 1 a seri wie, bringing i to mati 3© Fw 3h Gta mo Dar mom er (0 «The Bisset om ay degre lvoe tis replaces the iat four ‘otro pine wih eh ts ee senor! tnt, 4. tus inst wie to btn the lier erento fh 1 the Bla argent a, degre leat; {wo oceurncsof the Kata re removed heat segment uy] it degre elated 1 tw cccuons of up are removed, lng te al fourths, Stop 1 strighervard application of Alpi 45.6. 1 mol to a tr the Bsr segments, at rater o proces them onthe “Sup dag seats eso segment. We preset two frm odo thi ‘The fet tthe elon foo (ue a Fora (For2) to vate fom Age pes degree pl Let ® Fee 35, Cot (0) hil is et oe a 8 Gy) = AOR, be pgs lies curve es roprscatation (p+ 1th degree care i Coe) = Ed oy Setting these oqul and multiplying Cy(u) by (w+ (Le) (= 1) yields Fue Go0-wSaon = E0924 48)204 Penna Goetze Aeits aig the notation aon 20 applying Ba (1.8), btn Ey Jeo -wr@, = 2 (0) oa-ory serge -E(t¥a-wr eS? Jeans auating cocks of w(t =u) yids Cran (re (2)ro O/0?) - Sesh - a (er) aitan ih Notice that Eq (0.5) repeats coer cating proces (ne Figures 68, 1.35, and 5.85). Rearing Ba (535) 1 Wn be appli easily to mat the degre tes (¢2 1 1 tag ates O(C) 12> 1, eure appa of Ba. (5.8) oles + theo depend oly on the deze, not on the partuar Béxe sages wee ea ‘re apn ty can be in nd sored 1a oc ary blr poceig of hv sents Deis, + Miecomer conan ene Degree Blewation 205 Ws poi o dessa tam pt tn aoe tp. Wiig out several seeunive appitions of a (35), and cleverly rearing cout, ae nee OW ot) fe Opt 38) As rear He (6.38): + oth at Oo he wk the ed ly + the coef for ech PY sum to one (ne example), eae a convex ‘embinatin chen 1 Mhere ae no edndnt computations, + the conic mati symantec to he 1m + the couticents depen bth on pad, but ot onthe partie Bier ‘gt to which ty ae apd bance thy am be camptod nefe ‘Si Stored in eal uray bere prooeng a the mgm eae, ‘Te knot renal of Step 3 such es expensive than general ko rem ‘decribed inthe previous stn. Thre ze fm reo a hi + wo know how many kaos ate emtorabl=the mmber hat were nt + Be ot rh apes roc in the ihr af the ht‘6 Panda GeomatieAlgoithna ‘As on exampn of this, Figure 5.6 shams cure whose dese feng aed ee Sto pe), Lee, te bebe re paren abe deg the mo Fe in Assuming the rnd muti of 1 the te ka EEEEE, Ue equ wo frm te two Beir mgments ace that Co) = Ph). {SSNs romonals eo aco Homeer, we ca kip the Ast two and SU yL sand PS arty. hi ire computing nly vo points che eee ne G20), ae sinking oe equality of pots % seomsay. This er asf tbe tx poet compton and tho thre pot easly cee SSRRSTia ae genre Lol the knot vector bs the om where eh malty of at ost 2 “prim Ag-9 van the deg from pto pt > 1 by computing (0a the vew fabs Ub, sd) oss B, (66) to egret Ue Bar sopnente, Rn sad xO compute the nium andthe maxi of Reiter mepetily and Bin) emputes (the nomial coe ‘Shieh my be prscompated and stored fr farther efiincy. Lt pe the degsee Ue oad cure The roqed eal rayne: ‘aaltepet (pt scoff dare elevating the Bsr ‘soma peelprt) degre Ber intl pont of he erent sbptatpreet Gp bedogre Besie cont pinto he oxtopte(p-t] «eft contol points f the next Béser ese ‘apiacte-t) oo nerton om nego 15.9 Dogenattoraeecurye( Tye Dosree ele ” fe Taper pans peepee: pd pha; "7+ compute Basar dopree olovation contficteat */ esate fol = beaafolgn (gh = 105 for (iy Senpbay te) ‘ foe = tormacpa.sds spi > Kin(p Pe 3, Remon of he hat om eqn care or (somax(o,i: Sermpss 340) ELE = seria eC: f9F Gaze: pots 29 es = Ringed; for (grees); Seams §48) ante = eaten iad = poets ah BS pets “esas as ve 0) ftay = Pa; for (0; serpby $44) WEL = oa; eerste sat ater weg ser cian) ea Ban ‘ wecter +/ ilte @ <9 a8 0) — umn) b= bes = otal: Sle srt r= pals ‘ tnoere aor wtb) F tines 2 at Guar > 0) Ibe = (OMe) /2, alee he =1s dana Gomi Alte se (70) shee piGEHD/2; hte he G30) (7 Tuaure tact to gt Beater sognet */ te(E-mntel ~ waner/ (OLA sor Ga jer 39) ‘ 20a = angeles pred» (ovate epee tls velar = eet: Hi 1 ye mt ot stnert tot” #f co at ge 7 Base strate Bair */ 1 Gray oats Io, rope and blo #/ feat 2 ber rte Ee (tates Jems 309 ee echo eats arabs ) EE Stew crn Bete 7 aco (7 ne ceova Yok ra) olde tate «/ he © Geo aed-t)) ou, or (eeety eeeodes t=) Po taot removal top feltamee, y's anes skint deine Gel > sb) [+ Loop and conpuce the nev + {Ut cqteeh pointe for ove renoval stp */ ie Geeta) Le» cranear/conmtan: Bi SAAN Nae ece: y iyo { [eg jote © bine-pasende (bm = (obey een: open) = eacetpee es) 1(10-ga) stp 025 Degree Klavetion 200 ‘ fers = patito: } yi Wm "7 oF reaoving mot, wetCad +/ at ca lep) “fo Load the mnt ua 4! tor (i; sepieaisey 14), { Unlein = ua; Hind = indeis ) sor (jotta; forbes je). /+ Load etl pte Sato av / “Gretna sabpealjh: cima einatiy ees) {J Set wp for next pass thru loop +f for (sO; jer Jt). bpels] = Hextbptel3}: i See) dpeati] = Petbepe }. 70 bad of wastertoop (© 0) “tbe = (oldr2)/2; alee be = 4; Jw tncert aot Oe) ¥ tines / se 0 i Sumer © UB)-Ula); for (erp; Wowales kd22 Fundamental Goometie Attn stphaaQe-me-t) = magor/(Ul2 000) for (eis Jeers 309) ‘ for Geep, ova: 4) pte) alptane-alebel) es mates wr o-aiphaclns) eopte Det: osengte (eave) = byes a 1 bogres soiace Béstar sagunt +/ esongeontedce pea, opt MSEP): sta)» etalon, itd > m9 seturaG);,» / Carve ot depres reducible +/ "a henove inst U{al olde tines */ at lar? for (20 Aeoter; 1) Deciree; = lasts ay = sta Degre Redcton 225 rears}; [+ Oar at degen reucbie#/ 6 : 8 as 2 7 at oe oy rans) oop «/ Pha i cade» +7 1 odo veto td conte poate «/ a) 1 Gos septate $49 {todas tad = tnd) for (tes kop 0) teat) rapa cad = cates) [ossetp for ett pin ang #7 agen for cn; try 400) suai) = Hates: for fom Serr: See) bpealil = Gebel: ee ; Toe Gi Key i) tend = UD aeons eae Ga > ats eps Fevers: shee = (ofa -amts-sd) oD AMA}: ; een = (Ota-amts-e-1})/CODI-amEs-a-1D: Poldea] = (eseit-Ch-0-a)pyCinz)/aitas Figure 5. shows an example of rlueng the degre fu Seto oar. The Pept] = Cebpesasi-notaerpteleje139/(-0-tet); orginal kot vet Phin gegen wy ae } 1+ compe inst renova error bounds (8°) «/ at GAD" bes bineanceaa(hets-2) rope): t even = (ota-amts-2})/(u08)-m-D We deteaetopsthjeile(hO-dtes)sPe(i-2}; ‘r= Biseanceabets-),2D? } + Upance the error vector +/ Kv avotaeny gs apie) /2; for (ies shen 1840) {Pees tnot spe wore attected «/ ui] Setisl # er fend > mM Pe 51, Das ration of pln cave fm dee fo at126 Panes Gamat Alte = (60.0,0,0,0,015,015,03,03,05,05, (07,07,085,085, 1,161,161) “Thea ures the egal cure, whiten the dared one isthe dese reed ‘hve Figure 2 shows a cube care defod on the knot tor v= (0000.8, 8.525 Botta » Frgare 542 A caic carve, (9) Te cae carver ot ee ele; (0) tbe a 1 ie rier Knot ence. 1 so pone to sponte thi curve with a eon degree Bie carve {o wiles mneouble lane, Afr elning the kat toro 1 = (,4.0,0,015,015,03,03,04,0,08,05,03, (06,06,07,07,088,085,1,11,1) ‘sonable approximations posible, as shown in Figure 42%, Notice the “Gsomtny at w= Tl dt the il ao nthe ogi carve. The “else rng out an nereting pe: the quality of he eppactin ca ‘improved by tsedocing ete Knots wih tat mip twa Hes, {ogee wih kot referent the tol of hie mon ean be acto deep lps to apprimate hih-dgre cars wth lower-dexres carves ily, we remark thatthe wor tego of a surlce can be reac by soplyig tesa crv ocak tothe rows oc control pine Exencises BL tet p= 2 and U = (000,128,655), Cl) = SI Nale) Py 0 ‘eli crt dal o ty te ated pte (6° CET, CODE {00} G5'6.3,. C19) Use rpm tt neta compate CT) al hat ap (12) (4) an (8) (18) hd rs thi pe. Ste the care and te onto! pla. {2 Us te sc crea in aia $1. What wh of we nat a8 (eos cman tpt (a) ob nol oa? 5.3, Cour he apn matice Supt ou wat modify src hae ahi the repo opening to ‘torn ue pane san << Sinan ae he ‘ih Jou can ty ire won hg te iy oe sek ‘eta won age rf hr e g ‘4, Comer he pine ace S00) = DY Maes 4} wee w= (ooo,229 Penal nme Aerie and v=(000.13) sad Puy= (008) Pio= AO) Phy = (603) Pla OO) P= O29 PL=G25) Pens) P= 0.22) P= O40 PE=G43) Pa=lG4a) Pa= 040) Comte Sh) wing Kot ron Compr th ith ec 38 Se esp = 3 ad U = (0,0011.,22.2.2) a nthe ample of Pg 528, Nea in IC, CC, 0. (G0) Dern oy may ins w= semana od comput he a ‘in, Youd ey ng (829), cr wring ou Agton 1.8 ‘CHAPTER Six Advanced Geometric Algorithms 6.1 Point Inversion and Projection for Curves and Surfaces Give pint P= (2a; assed to Be on the NURS curve Cl) of eget ineerson ee pode af dig th coteponding parameter, ‘Gsm that Ca) ~ P. Thera, eit iverson canbe sled in cowed Fem fp $4 The Sep ae 1. ng the trong conver al property (8 ‘Gia cn psi cman 2 ming natn lec nat hcaatonnaad avet ‘esd gan ets nthe polo equtions in one unknowns ifthe {etna cto st hw Po ta gto Asan example of Sep 3, scam p= 2. Then a span (inven bythe vector (eect (Seine eps): Ho) ay paturay on et a = (wiz amy tm) Prjetng Ba (01) to thee dimensional sace td Sting rege to P= (29,2), we oan120 Advanced Got Algrihns hich yields wa(en 2)? Hules —a)u + walzy—2)=0 wb? Fel dw (ae — 2) =0 valent wey —2)0 lao =2) <0 2) "Thiet ha vantages, for example + Bg (6:2) caot be saved in ela or fr p> and the ation feepd and p= not wiboat poten 8 cmpiter, + heer mmr tres in go cea he ee ins co be cry eu when shoal ty be co SASS oleate tpt Po ty ‘hh cue (common cose) «the tne implementation ofthe pv ition eather nie snl ad omuniy at ati 0 en Newton eration 1 see tae ea rod Cl) oe Fr Ga ta 61). i Seal ete nse cv fr msn dao than ped ‘SuceTaancieysler be repo potent pe ton {ota tans lw br te Reno tera ite pit tn oon hc (vila hae) tb ng Pil pny desu sp s e e Sorbet peal Se gaa wl + Gt capt eualysedprnete al on ah Staccato Serubaiat ih te oar aes rh Beacons ely ‘SENT Ts rl ae ‘We cn tn od oe mle SSSA tv ab ome Now ew veh art a, om he dt prt ein 10)=e10)- (0%) ‘Tie dance om oC) non wien (0) =, wheter Poe ‘lw rot (gwen by th arte Eu Noun tn Then fia) 4, Claw) -P) 70" Fa. (C0 PYF CIT 9 “Two mo olen cn be id to inate ose: 6) 2 amen of Buc distance, Polat tversion and Projaton or Cur and Suc 21 VA “em — J / So « cw co “ gre 6.) Pit projections) peas ine, ‘Cooveranc rite re then ven by Howe CLS Lo(u)~ Pls Letw-(%w) — P)I [ets eray= P| Le ‘The criteria or chet in the loving order: 1. point einen: Jiu) Pisa, 2. eo cin: Letw)-(O(u— PII Ten Teu= FI S* at at ooo tas cotons ot sai ew valu es computed ‘ang Ey (63). Then tno mar contin are hc‘ne Aduoead Grom Algitins 2. eae thatthe parameter stays within the rage (us (0. 1th crv ot ca: lance) mama Hla tug =b teh cu i se (ues <0) wan Ble me) Hwan wi at (me =H) 4. the parameter doce ot change sgt, eg the pat tho ead stidecane Hoge We tad Lses 1 any omits (1) (2), 0 (4) tid, the eration st. Plu 6.2 ‘ior the projection of» of pits onto & NURBS curve Poot iverson and projection fr suc te aslogos. Form the vector sion Hus) =Slua) =P sl the wo scalar equations Sa) = 0.98) a) = ree-See) 0 6s) ott inversion ad Projection for Curve sod Safe 238 We marsala (65). Let — fi) [irre Se tee SeSet FS [SP +e wer ll he fnctins inthe mate Jae evaluated at (4) A thei Teton we tis solve the 22 ye of ear unin i he uaknown fi, sive by dam wo rm we obtain oe peers on (Convergence eitern ae given by Hoye = 08040) # (40s WS) | | Stein) Pisa Lsiun(Sumd= PP, (Stound(Slound= PDI og 18.00) 11a) = P| F 5) Api, the conditions ae checked by 1. pot colnence: [Seun)-Pise 2, er iin Lseteuw(Siued)P)| ¢, |Seoud(Stoue)— PD [S.a-e) 1Suad= PTS? [Sau Islan) Pl ase onions ar not std new value (84) computed ing (67 Thon two mare condos are cela 8 ensue thatthe parameters tay in range (et € [6,8 and ws € fd Sf the mr nok led nthe diets (uni 8, 20, low om clementary Sit ty ash iret ctr W = (nt Sd + So 9) “ange vector meron the procs of determining the ctr W, austin (62) expands ito thes equatons a two unkown hat m2) yf [ *]tel-[2] oy ie ete swat Stn (0 i nt it won (ot th en Se ‘Sel et a hy Mg} Or uyweer290 Avan Geant Alpine 7 (eee ay Shaving th 2 2 yee of equate unknown add 6 ‘Tyansormations and Projections ‘of Curves and Surfaces: ae ‘Tanfomations and proton of curve and surfaces omnia gomce Iboddling and compatce apes Tianafamaton code ulations, rot ‘om selngs shou ad reson. Parl end perspective projecoas re ‘cus in owing theo meson geometry vid sten ater me ‘Giomlnal oot devices "There ae many elt daca of esr. ‘eas tnd potions nthe rater, [aun Fle Roget this ‘Seto we stu the rer liar ith be general eaves, and we la ‘at nly thw appcaton of these conc to NURDS cares od vara. ‘Al rasormaton and projections ae pertrod on NURDS curves ou face by eplpiag operations to he coord pat ad welts, hence 1s fo ta vet the Sarin to cus Pquaton (1) and (8) represent {wo dilate hak fs NURBS eure nay a a peeve rational (hive in Bueian spac, or a4 oeraoal ple eure In bomogsesns ‘Sore. "he Bint mth uo the Bapline bas fenton to Wend ig ‘Tieedimensonal cota pout the sed method te he ato end feurdieasonal contol pints Corespondingy, Ue exist two ethos ie etrming teaaloratons an poets apply the operations to the ere dns conta pit of Ce) fe ‘Sfespett pogeton, tew weights mat ako be compte -toply 2 oA mtx to the far dieasoal conta pot of ™() Le 3 -Saon, xy See ‘With the exception of pepe, ll asfonatins and projections of a) ‘patra by span the operation tothe Ue dpnsonal contol pts ‘ithe ei ny oto change Ti flows an the Aine Inver Property, P49 (wtih allows fom the form of Bq, [6.12). Let ws conser rojo: Figure shows x general pall projection of he val pas, 1, toa projet plane gen by the reference pst, andthe uit gt tral etn, NPy docs the projection of PI te deton ofthe rojo given by the wetar W then Po Rbaw (619) co, ‘Transformations and Protos of Cares ad Surin 257 Prom By (613) we have ow. Ra ad (NW) = NP Q)+NQ~B) Since Bes on the projection plano, N-(P, ~ Q) = 0, fom which flows Ni@-») Nar sed faaly N1Qm) Maen) An Tee pontine fr rc i Puy =P y+ (MIQ=PD)) wy = Fae (MOG Pal) ow) Figur 6 shows a puspctive projection. As bel, ht the projection plane ‘be dfn by Q and N. Deaote the ee peta by Then Pad -aR tar (1)228 Adwncod Grorie Age Pe 68, Papen jection of MURES caves 1 seat ER) =P,-P- +O and (P,Q) =O opi hak NEP) ' ) NAEP +R) el NEP) ONE=P) NEP) — Nea) y , N1Q-P ~ MEO BO os . Pt NEF) = ‘Bunt (617) the fal ir comping ew stl ie he tee "We Sve the frm fr he ew weg Tat Pac) =F RAR, ‘wean abirary pit om Ca), td dnote by the perspective potion of P ‘Transormations and Projesins of Curvs and Surtees 238 ono the plane ima by @ and N. Recaig that Bot fran ein NAB~),, N1Q=P) PO NEP)? NE=P) ERNE QP) +E A (NG PE DANAE Py) Ey (A(B~ P)) = ERNE PI) Sle) (MA ERE BI) wm (NE~R)) (es) 9 EMam (RB=S ns AQF) (19) "autin (6.10) shows that the contr! pins ad wiht given by Ba. (6.17) ‘(618 are thas ho prota eure The frm for was om al ty SINE BA on Fre 7 stows paral projection of NURS sro.gue 67 Part poet o NUKES res. Hoe MO) = Pha HlPP A nba poo vee ee A eo ts te jf AE — Eararacs here the wor T and P reprnet transition and porspctv,espectily ed the 33 mate B, coals oaton,eaing sar, reection hh & lotdate plane and potion toa cordate paw, The mee At be Spd to al ctl pats Py of (0). Examples Let PP = (pvzu ans) sl dente a wanton homogenate Dalat by PP = AP a6. 1 Tras C*(a) by the eter V = (2.2) Then “gE eparameterisation of NURBS Curves and Surfs 241 126.2. Apply araation matric R to C%() [& ua j FS (SeeShsa| fra ax tas 0} {eins | | wstrgon taut age) oe aL = 226.3. Paspective projection: Let = (00,4) be the ee piton ring he asi a distanced fom the rg, Lt the 2y pane be the projection me ee SUTE]-| SE | eo PEPE, 6.4 Reporameterzation of NURBS Curves and Surfaces et Ct) = (0 (0) (beam citrate care = fan ‘See tn w= fe) maser como ain + P10) > Ofer al ee (way rete += le) and b= J) lo) ap dl nf). ‘he compan af Ca) anf) nb Fle) = C(400) = (2(sev(F10).eUU0)) calle eparterzato of Cs) (me Pigure 6). ‘G(s grmtraly the sme crema Gu), bu parametric they ae (0) a7) 4 O°%u)(10%())” ra: At Th 4 = mat al viding 9) hehe thts =1— (0.00) 4 =2:h ha thy 2+ (10) bathe thy | sun + (6.0.0) fro which we bela Sa) = Cn fa) 4 32°01} 7%)+ °K) A+ Mh ka + = ol J 0: ky be the ky wo ston Fatih thy thks =1— (00,1) Intihth thy ths 2 (4040) aad (2.00) J=Sh th th+h =I (21,00) JnAihit he thy head 4,000) om whic we obtain M40) Ca gH49) +O) [4H 7%) +%0)?] 609410) 1) 40-4 (0)* Given th devine of Cs) ner of the of (a) and Js), the geet formals fe Q? ae crema Sewn(Jer en mean Shomer en sm, For exampe he St five ctl pits rm the le are y= OP coe —as +207 OF = Oem as +207 eoeans ater Di a oP e= 0+ OF sar +307 Y= owen ng) QF +407 6 0F 440F Fi REA 9 ~ W + 407 00 +445 os)1250 Advan Gan Algeithms sd om the gt are Qn =Pr OME 8+ Oy - 305 +052 a ripea-a%, r= pe Wong Si Ot 80a His oan) Anes repraetration fain wea seb) ss) ‘nan interesting opcl ct. Examining Fa (6:38, ote that rH) = CM (ILM] = a'CMH) (4) tn t= Sew sas Bry ws) +RE (aT oma = 06+ and b= a+ 8 we obain ae ms Suteing Ba, (64) te (be ar=Pr Using at (64), (46) a (648), a wy oto that rary balls (oa) eae her the dap ot (homoge) cata pts nas, he tra fart a fs) ay chang he pruebas om oa | Ala ht (0) be a tery thd NURS ce 08 fw aot meee Usd te =f) ao dages pre pel ee ‘emcee facton oo 46 al Now fe) sano ym ‘Siro a rag a tie ta ee apie em as) (= SoM sa) eparsmeterisaton of NURBS Cars sed Safes 251 hrs the (fi ae sears. Dente the kot vst by then C*(/) 8 Dros NURS care on fa nr not nd om! pote can be eaipted a tow: 1 le} dee the et of tic eral kts of 0, amet (4) = {G65} dese their image; not renee tor ll ya al ‘ial eter ts of U un ty al tae maby pCa) thon in pews Bsr orn; denote Th ved ht vecta by Uy ale 10) = 140) (ay fom the sew kot wctr, whee be theives faction off (ct Lot ae he tages intra Knot tn open wi so Bas (6.9) (64) andthe brand frm the pow bats in Step ‘Pea compote the now contra pms of G(s), whch aa pewiat Biter fra: ‘apply kot rmora to C™() an to otal the minal repeentation P.C°(6 Tae continaty of C™(s) and the malities fs Ets ‘te Ana, beater kot remoal (a i Aleridi 48-6) 2 not ‘Spe ie eka na et = ec ad ‘nt the tutta fa, anda the eign not tore Utd 9, ‘eepctively mn? 20) The the mulpsty mya 2,8 3 emt mt ao mi mt masieg—pt-mtspa—a-tm{) Mme #0, me AO (652) $9) 08+ 8, ta 4 a) = (O~ PY. The (omageneos) cont ts doa chase, ad he new knots re bt rom he gil ones sate) (6s) ar exampl, he ot wctorsU = {00,0 31 Ab and $= (1,1,13,2,9.7) ‘ucla (Sef he same care since += Gust map U Figures €1146.11d show parameterization example, The carve i cai ‘Balin carve dined on U = {0,000 fy). tn Figure 0th rep "ameeiainftin (howa in the pp ih coent) deli ty he as P= {0,35 1, the Kot vcr ‘mete died by P= [3b (0040, tata te Fue 6:1 the fant sven by P= (0, ethyl} aad 5 = (0,00, “inth.11}-Reparaneteriaton with »hwar Bape func, pea by Ff.) and = (0,01 1) depicted in Fgure 61, Wie tun now to reparametrization with rata or pines inal) ane one ofthe | 50282 Advanced Gani lpi ‘Repsranetazation of KURBS Cures nd Suro 283 5) se) © @ Frome 611, Booiae cave rpwanetin wh queue Bening faci, Fae 610 (Cina) (6) P= (47h hath, $= (00.0.4 tht (Feiss Goa leak F=(46thalh 3 = (000% hb (Patan ‘hob ‘As prvi ter Cs) or f() has itera ac can eprametrie| es wean asm hat C>(e) a) haven itera ns. Tec, 1 inset koto btn G(s) a lone Ber ares 2 repaantaan tho Beer segments254 Advan Goat Aline wd (meno Savior Xf gs) and As) ae atedere polynomials the (sf td poly ‘a. Now et. {©>(a) = (wn(uoeyln ate). a)) cw=0 ($2) = er1a = Cuaron = [is Concring O°), at tat 1+ C°() ea pthcar: polyol iv ie hamigeeos s 1°) and 6%) ae direst cvs meres sac, bt they ol eee cue Hadas ge tn Cl) = CU tig €° (0) = (80))"O" (atin), the Ca ale, aed ate ‘rnnla cow can cent the bomen nto fC) “The fants Btwn regret wth ain vers ‘yoni nti it J) pena then C°(e) (nd nee Ci) epnraneterin Sa hel emer th SA0J0) roa en» dost cane, C°(0), geen whic Post tn same Gin srs) sve, Clef te nes ie {amigo Ca) wi cana. Example 56.7 Thecicalarare given y Ba (65) haa Bésie repression, Ce, the Bosldean cont pols, (P)) =(,0,(10},()) resin to uh wage are determin by equating the power Bas a Bese Gr of tw dosminator anton af Eq (35). (2 VB\es (VE )et t= oa 42 ~ adr oe Sutttting 0,3, a saving he wee oo = {Ba} oss) Figure 6.12 shows he new cur, ae ths gure with Figure 12, ), aot projection, Cf). Com ‘Reparametrzasion of NURBS Corvs nd Sirius 285 In pct ie generly not necmsary o wt rtlonl parameterization Sanne of pen gente han ne Leet ia Le gi exe ‘feito of eparaeterinaton ngs errata oneton. We summaiae hae ete bre. Let DL Meolwhre ot) = S$ we fa (0 i the ee of). at Ha= m5 Nemo ‘Tease tat) and 0) are well behaved, we assume a5-18>0 Hla) £0 feral we ad Ne) #0 forall ed] ewe 612. Hamopmmensrepetion of the celr o ig et (1, )