DiffGeomSurf JS

Differential Geometry of Surfaces
Jordan Smith
UC Berkeley
CS284
Outline
Differential Geometry of a Curve
Differential Geometry of a Surface
I and II Fundamental Forms
Change of Coordinates (Tensor Calculus)
Curvature
Weingarten Operator
Bending Energy
C(u)

p

C(u)

p=C(u
0
)

Point p on the curve at u
0

C(u)

C
u
p

Tangent T to the curve at u
0

u
u
C
C
T =
( )
u
u C
C
u
c
c
=
C(u)

C
u
C
uu
N

p

Normal N and Binormal B to the curve at u
0

( )
( )
( )
u uu u
u uu u
uu uu
uu uu
C C C
C C C
T B
T C T C
T C T C
N

=
=

=
( )
2
2
u
u C
C
uu
c
c
=
uu u
uu u
C C
C C
B
=
B

C(u)

C
u
C
uu
N

k
1
=
p

Curvature at u
0
and the radius osculating circle
B

C(u)

T

N
T
Curvature at u
0
is the component of -N
T
along T
C(u
0
)

C(u
1
)

N(u
0
)

N(u
1
)

T
N T = k
Computing the Curvature of a Curve
u u
u
u
u
u s
C C
C
C
C
s
u
C C T
= =
c
c
= =
1
( )
u u
u u
u u
u u
s s
T
C C
N C
s
u
N C
s
u
N
s
u
C
N C
N T
=
|
.
|
\
|
c
c
=
|
.
|
\
|
c
c
|
.
|
\
|
c
c
=
=
=
2
k
s
u
N N N
u s T
c
c
= =
u u
C C
s
u
=
c
c 1
u u
u u
C C
N C
= k
( ) ( ) ( )
( )
( ) ( ) ( )
( )
( ) ( )
( )
( )
2
2
2
u uu u
u uu u
u uu u
u uu u
u uu u uu uu u
u uu u
u uu u u uuu u uu uu
u
C C C
u
C C C
C C C
C C C
C C C C C C
C C C
C C C C C C C C
N

c
c

+

+
=
( )
( )
u uu u
u uu u
C C C
C C C
N

=
u u
u u
C C
N C
= k
( ) ( ) ( )
( )
( ) ( ) ( )
( )
( ) ( )
( )
( )
2
2
2
u uu u
u uu u
u uu u
u uu u
u uu u uu uu u
u uu u
u uu u u uuu u uu uu
u
C C C
u
C C C
C C C
C C C
C C C C C C
C C C
C C C C C C C C
N

c
c

+

+
=
( )
( )
u uu u
u uu u
C C C
C C C
N

=
( ) ( ) ( ) ( )
( )
( ) ( )
( )
( )
2
u uu u
u uu u
u uu u
u uu u
uu uu u u uuu u
u
C C C
u
C C C
C C C
C C C
C C C C C C
N

c
c

+
=
( ) ( ) ( ) ( )
( )
( ) ( )
( )
( )
2
u uu u
u uu u
u uu u
u uu u
uu uu u u uuu u
u
C C C
u
C C C
C C C
C C C
C C C C C C
N

c
c

+
=
( ) ( )
( )
( ) ( )
( )
N C
C C C
C C C C
C C C
C C C C
N C
uu
u uu u
u uu u uu
u uu u
uu uu u u
u u
=

=

=
( ) ( ) ( ) ( )
( )
( ) ( )
( )
( )
2
u uu u
u uu u
u uu u
u uu u
uu uu u u uuu u
u
C C C
u
C C C
C C C
C C C
C C C C C C
N

c
c

+
=
( ) ( )
( ) ( )
( ) ( )
( )
3
u
uu u
u u u uu u
uu u uu u
u u u uu u
uu uu u u
u u
u u
C
C C
C C C C C
C C C C
C C C C C
C C C C
C C
N C
=

=

=
= k
Outline
Curvature
Weingarten Operator
Bending Energy
S(u,v)

S(u,v)

p

Point p on the surface at (u
0
,v
0
)
S(u,v)

p

S
u
Tangent S
u
in the u direction
( )
u
v u S
S
u
c
c
=
,
S(u,v)

p

S
u
S
v
( )
v
v u S
S
v
c
c
=
,
Tangent S
v
in the v direction
S(u,v)

p

Plane of tangents T
S
u
S
v
T

v u
vS uS T + =
First Fundamental Form I
S
Metric of the surface S
| | | |
| |
| |
| |
(
=
(
=
(

=
(
=
v
u
I v u
v
u
G F
F E
v u
v
u
S S S S
S S S S
v u
v
u
S S
S
S
v u T T
S
v v v u
v u u u
v u
v
u
S(u,v)

N

p

S
u
S
v
T

v u
v u
S S
S S
N
=
Normal N
S(u,v)

N

p

S
u
S
v
T

Normal section
S(u,v)

N

T
T
k
1
=
p

Curvature
S
u
S
v
T

S(u,v)

N

T
T
k
1
=
p

S
u
S
v
T

N
T
Curvature
T T
N T = k
Second Fundamental Form II
S
| | | |
| |
| |
| |
| |
| |
(
=
(
=
(

=
(

=
(

=
(
=
v
u
II v u
v
u
N M
M L
v u
v
u
N S N S
N S N S
v u
v
u
N S N S
N S N S
v u
v
u
N S N S
N S N S
v u
v
u
N N
S
S
v u N T
S
vv uv
uv uu
vv vu
uv uu
v v u v
v u u u
v u
v
u
T
Outline
Curvature
Weingarten Operator
Bending Energy
Change of Coordinates
p

S
u
S
v
Tangent Plane of S
(
=
(
=
(
t
s
t
s
v
u
S
S
A
S
S
b b
a
S
S
u u sin cos
0
p

S
s
S
t
S
u
S
v
a

b

Construct an Orthonormal Basis
(
=
(
=
(

v
u
v
u
t
s
S
S
A
S
S
a b
b
ab S
S
1
cos
0 sin
sin
1
u
u
u
| | | |
(
= =
(
=
(
=
(
=
2
2
cos
cos
1 0
0 1
b ab
ab a
AA
A A A S S
S
S
A S S
S
S
I
t
t t
t s
t
s
v u
v
u
S
u
u
p

S
s
S
t
S
u
S
v
a

b

First Fundamental Form
p

S
s
S
t
S
u
S
v
a

b

v

u

t
s
T

A point T expressed in (u,v) and (s,t)
| | | |
| | | |
(
=
(
=
(
=
(
v
u
t
s
t
s
v
u
S
S
A t s
S
S
A v u
S
S
t s
S
S
v u T
1
| | | |
| | | |
1
=
=
A t s v u
A v u t s
Outline
Curvature
Weingarten Operator
Bending Energy
Curvature
| | | |
| |
| | ( )
| |
(
=
(
=
(
=
(
=
=

t
s
II t s
t
s
A II A t s
v
u
II v u
v
u
N N
S
S
v u
N T
S
t
S
S
v u
v
u
T T
1 1
k
p

S
s
S
t
S
u
S
v
a

b

( )
t
S
S
A II A II
1 1
=
T
is a function of direction T
Curvature
| |
(
=
t
s
II t s
S
T

k
p

S
s
S
t
S
u
S
v
a

b

( )
t
S
S
A II A II
1 1
=
How do we analyze the

T
function?
Curvature
| |
(
=
t
s
II t s
S
T

k
E
1
E
2

p

S
s
S
t
S
u
S
v
a

b

( )
t
S
S
A II A II
1 1
=
Eigen analysis of II

Eigenvalues = {
1
,
2
}
Eigenvectors = {E
1
,E
2
}

Eigendecompostion of II

1
2 1
2 1
2
1
2 1
2 1 1
0
0

= A =
t t
s s
t t
s s
V V II
S
k
k
| | | |
(
=
2 1
2 1
2 1
t t
s s
S S E E
t s
Curvature
E
1
E
2

p

S
s
S
t
S
u
S
v
a

b

| |
( ) ( ) | |
( )
( )
| |
| |
2
2
1
2
2
1
sin cos
sin
cos
0
0
sin cos
sin
cos
sin cos
sin
cos
sin cos
ok ok
o
o
k
k
o o
o
o
o o
o |
o |
o | o |
k
o
+ =
(
=
(
=
(
+
+
+ + =
(
V II V
II
t
s
II t s
S
S
S

( )
( )
(
=
(

=
(
=
(
+
+
o
o
o
o
| |
| |
o | o |
o | o |
o |
o |
sin
cos
sin
cos
cos sin
sin cos
sin cos cos sin
sin sin cos cos
sin
cos
V
Outline
Curvature
Weingarten Operator
Bending Energy
Weingarten Operator
E
1
E
2

p

S
s
S
t
S
u
S
v
a

b

t
S
S
A AII II

=
(
= A
2
1
0
0
k
k
1

A = V V II
S
( ) ( )( )
( ) ( )
( ) ( )
( ) ( ) ( ) ( )
1
1
1 1
1 1

1 1

1 1
1

A =
A =
A =
=
=
=
V V
V A V A
A V V A
A II A A A
A AII A A
II I W
t t
t
t
t
S
t
t
S
t
S S
( ) ( )
(
=
(
= =

2 1
2 1
2 1
2 1
1 1

v v
u u
t t
s s
A V A V
t t
Weingarten Operator
( )
2
2
2 1
F EG
M LN
W Det
G
= = = k k k
(
=
(
=
=

FM EN FL EM
FN GM FM GL
F EG
N M
M L
E F
F G
F EG
II I W
S S
2
2
1
1
1
( )
( )
2
2 1
2
2
2 2 F EG
EN FM GL W Trace
M
+
= =
+
=
k k
k
( ) ( )( )
( )
2
2 2
2
2 , 1
2
4 2 2
F EG
M LN F EG EN FM GL EN FM GL
+ +
= k
Weingarten Operator
(
=
FM EN FL EM
FN GM FM GL
F EG
W
2
1
| |
( ) ( )( )
( )
(
(
(
+
=
1
2
4 2
2 2
2
2 , 1
FL EM
M LN F EG EN FM GL EN GL
S S E
v u
( ) ( )( )
( )
2
2 2
2
2 , 1
2
4 2 2
F EG
M LN F EG EN FM GL EN FM GL
+ +
= k
| | | |
u u
S N S E E =
2 1
If
1

2
else umbilic (1= 2), chose orthogonal directions
Outline
Curvature
Weingarten Operator
Bending Energy
Bending Energy
2 1
k k k =
G
2
2 1
k k
k
+
=
M
( )
G M
B
k k
k k
k k
k k
k k k k
k k k k k k
k k k
2 4
2
2
4
2
4
2
4
2 2
2
2 1
2
2 1
2 1
2
2 2 1
2
1
2 1
2
2 2 1
2
1
2
2
2
1
=
|
.
|
\
|
+
=
|
|
.
|
\
|
+ +
=
+ + =
+ =
( ) ( )
( ) G A
S A
A A
A
A E
S
M
S
M
S
G
S
M
S
G M
S
B
2 2 4 4
2 2 4
2 4
2 4
2
2
2
2
2
2
2
1
c =
c =
c c =
c =
c + =
}
}
} }
}
}
t k
t_ k
k k
k k
k k
Bending Energy
2 1
k k k =
G
2
2 1
k k
k
+
=
M
( )
G M
B
k k
k k
k k
k k
k k k k
k k k k k k
k k k
2 4
2
2
4
2
4
2
4
2 2
2
2 1
2
2 1
2 1
2
2 2 1
2
1
2 1
2
2 2 1
2
1
2
2
2
1
=
|
.
|
\
|
+
=
|
|
.
|
\
|
+ +
=
+ + =
+ =
( ) ( )
( ) G A
S A
A A
A
A E
S
M
S
M
S
G
S
M
S
G M
S
B
2 2 4 4
2 2 4
2 4
2 4
2
2
2
2
2
2
2
1
c =
c =
c c =
c =
c + =
}
}
} }
}
}
t k
t_ k
k k
k k
k k
Minimizing

= Minimizing

}
c +
S
A
2
2
2
1
k k
}
c
S
M
A
2
k
Conclusion
Curvature of Curves and Surfaces
Computing Surface Curvature using the
Weingarten Operator
Minimizing Bending Energy
Gauss-Bonnet Theorem

DiffGeomSurf JS

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

DiffGeomSurf JS

Uploaded by

Copyright:

Available Formats

Differential Geometry of Surfaces

How do we analyze the

You might also like