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A Blossoming Development
of Splines
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Copyright©2006byMorgan&Claypool
Allrightsreserved.Nopartofthispublicationmaybereproduced,storedinaretrievalsystem,ortransmittedin
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ABlossomingDevelopmentofSplines
StephenMann
www.morganclaypool.com
1598291165
9781598291162 paperback
1598291173
9781598291179 ebook
DOI10.2200/S00041ED1V01200607CGR001
APublicationintheMorgan&ClaypoolPublishersSeries
SYNTHESISLECTURESONCOMPUTERGRAPHICSANDANIMATION#1
Lecture#1
SeriesEditor:BrianA.Barsky,UniversityofCalifornia,Berkeley
FirstEdition
10987654321
ii
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A Blossoming Development
of Splines
StephenMann
UniversityofWaterloo
Canada
SYNTHESISLECTURESINCOMPUTERGRAPHICSANDANIMATION#1
M
&C &
Morgan Claypool Publishers
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ABSTRACT
Inthislecture,westudyBe´zierandB-splinecurvesandsurfaces,mathematicalrepresentations
for free-form curves and surfaces that are common in CAD systems and are used to design
aircraft and automobiles, as well as in modeling packages used by the computer animation
industry. Be´zier/B-splines represent polynomials and piecewise polynomials in a geometric
mannerusingsetsofcontrolpointsthatdefinetheshapeofthesurface.
Theprimaryanalysistoolusedinthislectureisblossoming,whichgivesanelegantlabeling
ofthecontrolpointsthatallowsustoanalyzetheirpropertiesgeometrically.Blossomingisused
toexplorebothBe´zierandB-splinecurves,andinparticulartoinvestigatecontinuityproperties,
changeofbasisalgorithms,forwarddifferencing,B-splineknotmultiplicity,andknotinsertion
algorithms.Wealsolookattrianglediagrams(whicharecloselyrelatedtoblossoming),direct
manipulationofB-splinecurves,NURBScurves,andtriangularandtensorproductsurfaces.
KEYWORDS
Be´zier and B-splines curves and surface, Blossoming, Computer-aided geometric design,
Splines,Triangularandtensorproductsplinesurfaces
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Contents
Preface............................................................................ix
1. IntroductionandBackground..................................................1
1.1 MathematicalBackground................................................1
1.1.1 WhyAffineGeometry?............................................3
1.1.2 Exercises.........................................................4
2. PolynomialCurves............................................................5
2.1 Implementations.........................................................7
2.2 BernsteinPolynomialsandBe´zierCurves...................................7
2.2.1 Exercises........................................................12
2.3 Blossoming.............................................................12
2.3.1 deCasteljauRevisited............................................15
2.3.2 DegreeRaising..................................................16
2.3.3 FunctionalBe´zierCurves.........................................17
2.3.4 Exercises........................................................18
2.3.5 Implementations.................................................19
2.4 MultilinearBlossom.....................................................19
2.4.1 Exercises........................................................23
2.5 DerivativesofBe´zierCurves ............................................. 24
2.5.1 Exercises........................................................26
2.6 Continuity..............................................................26
2.6.1 CubicHermiteInterpolation......................................27
2.6.2 C1 ContinuityandtheBlossom...................................27
2.6.3 C2 Continuity...................................................29
2.6.4 Ck Continuity...................................................29
2.6.5 Exercises........................................................30
2.7 ChangeofBasis.........................................................31
2.8 Exercises...............................................................32
2.9 FastEvaluation ......................................................... 32
2.9.1 Exercise.........................................................35
2.9.2 Implementations.................................................35
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3. B-Splines....................................................................37
3.1 Implementations........................................................42
3.2 KnotMultiplicity ....................................................... 42
3.2.1 Exercises........................................................46
3.2.2 Implementations.................................................47
3.3 TriangleDiagrams ...................................................... 47
3.3.1 Exercises........................................................49
3.4 KnotInsertion..........................................................49
3.4.1 Implementations.................................................51
3.5 B-splineBasisFunctions.................................................51
3.5.1 Exercise.........................................................55
3.5.2 Implementations.................................................55
3.6 ClosedB-splines........................................................56
3.7 ModelingwithPolynomialandSplineCurves:DirectManipulation ......... 57
3.7.1 Implementations.................................................59
3.8 NURBS................................................................59
4. Surfaces.....................................................................61
4.1 TriangularSurfacePatches...............................................61
4.1.1 Blossoming ..................................................... 65
4.1.2 Exercise.........................................................68
4.1.3 Derivatives......................................................68
4.1.4 ParametricContinuity............................................71
4.1.5 SurfacesAbovethePlane.........................................73
4.1.6 Exercise.........................................................73
4.1.7 StoringtheControlPoints........................................74
4.1.8 EfficientEvaluationataSinglePoint..............................75
4.2 FastEvaluationonaGridofPoints.......................................76
4.2.1 AGridofEvaluationPoints......................................76
4.2.2 Implementations.................................................77
4.2.3 3-to-1Subdivision...............................................77
4.2.4 2-to-1Subdivision...............................................78
4.2.5 4-to-1Subdivision...............................................79
4.2.6 CurveEvaluation................................................81
4.2.7 CrackingProblems...............................................82
4.2.8 Discussion......................................................83
4.2.9 Exercise.........................................................83
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4.3 Tensor-ProductSurfacePatches..........................................83
4.3.1 TheBlossomofaTensor-ProductSurface..........................84
4.3.2 Derivatives......................................................85
4.3.3 Continuity......................................................86
4.3.4 Tensor-ProductB-Splines........................................87
4.3.5 SurfacesAbovethePlane.........................................87
4.3.6 GeneralizingtheDimension......................................88
4.3.7 Storage.........................................................88
4.4 AlternativeEvaluationMethodsforTensorProductSurfaces................88
4.4.1 RepeatedBilinearInterpolation...................................88
4.4.2 RepeatedCurveEvaluation:Revisited.............................90
4.4.3 RecursiveSubdivision............................................90
4.4.4 CurveEvaluation................................................91
4.4.5 Discussion......................................................91
4.4.6 Exercise.........................................................92
Bibliograpy........................................................................93
Index.............................................................................95
Biography.........................................................................97
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Preface
These are a subset of course notes that I started developing in 1993 for the University of
Waterloocourseonsplines.Iwantedablossomdevelopmentofthesplinematerial,andfound
no reference adequate for that purpose. Although some possible choices have appeared since
then [10, 9], I preferred the material that I had developed. The notes you see here are mostly
restrictedtotheblossomingmaterialthatappearsinmycoursenotes,althoughthereareafew
sidetripstoemphasizesomeimportantpoints.
Awordaboutthestyleandintendedaudience:thislectureisnotaimedatmathematicians.
Instead,itisaimedatseniorundergraduatesorfirst-yeargraduatestudentsincomputerscience,
whosemathematicsisabitweakorperhapsabitrusty.Exposuretocalculusandlinearalgebra
isexpected,butItrytoincludeabriefreminderofthemathematicalideasneededinthetext.
The proofs are informal and could be tightened up a lot, but I have tried to write them in a
stylethatismoreusefultosomeonethatneedsabitmoreguidance.Further,thereisavarying
amount of rigor: sometimes, proofs are omitted or glossed over, at other times, the proofs are
doneinmoredetail.Andtheexpositiontendstobeabitchatty.Again,theintentistoprovide
alevelofdetailthatwillallowtheintendedaudiencetoabsorbandappreciatethematerial.
Twosourceswerethemaininspirationforthesenotes:LyleRamshaw’stechreport,and
the papers and talks that were the basis for Ron Goldman’s book, Pyramid Algorithms. Both
are excellent supplements to these notes. Because of the way these notes were developed, the
referencesareabitskimpy;myapologiestoanyonewhoseworkIshouldhavecited—Iwouldbe
interestedinhearingfromyoutoaddanappropriatecitationtofutureversionsofthesenotes.
IamindebtedtoLyleRamshawandananonymousreviewer,whosecommentsonadraft
of these notes allowed me to expand several portions from short notes to myself (to elaborate
oninclass)intoareadabletext.
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