O HOA 2D

NG CONG

Giang vien : Bui Tien Len

Phan loai
Quan iem toan hoc
- ng cong c bieu dien bang ham so
- ng cong c bieu dien bang phng trnh tham so
Quan iem thiet ke
- ng cong CAD (Computer Aided Design)

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ng cong c bieu dien bang

ham so

Bai toan
Input
Ham so y = f(x)
Mien oi so [xmin, xmax]
Output
o th ham so

y=f(x)

xmin

xmax

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Thuat toan
Bc 1 : Chia mien oi so ra N
oan bang nhau

x0 x1 x2
xmin

xN-1xN
xmax

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Thuat toan
Bc 2 : Tnh y
yN
y1 y
2
y0

yN-1

x0 x1 x2

xN-1xN

xmin

xmax

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Thuat toan
Bc 3 : Ke ng gap khuc i
qua N + 1 iem.
yN
y1 y
2
y0

yN-1

x0 x1 x2

xN-1xN

xmin

xmax

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Cai at
// Hm v ng cong hm s
void DrawCurve2D(CDC *pDC, TFunc2D f, double xmin, double xmax)
{
double x, x, y;
x = (xmax xmin)/N;
x = xmin;
y = f(x);
pDC->MoveTo(ConvertWorldToScreen2D(x, y));
for(int i=1; i<=N; i++)
{
x += x;
y = f(x);
pDC->LineTo(ConvertWorldToScreen2D(x, y));
}
}

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Cai at
// Lp phng trnh hm
class TFunc2D {
virtual double operator () (double x) = 0;
};

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Van e phan oan

So phan oan N la bao nhieu ?
o phan giai cot

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o th a thc bac ba
Cho
y = ax3 + bx2 + cx + d
x [xmin, xmax]
y = 0.1x3 0.2x2 0.2x + 3
x[ 4,4]

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Van e tnh gia tr a thc

Cach tnh thong thng
a*x*x*x + b*x*x + c*x + d;
Can 6 phep nhan va 3 phep cong
Cach tnh Horner
((a*x + b)*x + c)*x + d
Can 3 phep nhan va 3 phep cong
Cach tnh cai tien
?

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Van e tnh gia tr a thc

a thc bac nhat y = ax + b
Cach tnh thong thng

Cach tnh cai tien

yi = axi + b
Tnh

y0 = ax0 + b
yi+1 = yi + a
x
Tnh

y0 = ax0 + b

y0 = ax0 + b

y1 = ax1 + b

y1 = y0 + a
x

y2 = ax2 + b

y2 = y1 + a
x

...

...

yi = axi + b

yi = yi-1 + a
x

yi+1 = axi+1 + b

yi+1 = yi + a
x

...

...

yN = axN+1 + b

y0 = yi + a
x Trang 13

Van e tnh gia tr a thc

a thc bac hai y = ax2 + bx + c
Cach tnh thong thng
yi = axi2 + bxi + c

Cach tnh cai tien

y0
y0
yi+1
yi+1

=
=
=
=

ax02 + bx0 + c
2a
xx0 + a
x2 + b
x
yi + yi
yi + 2a
x2

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Van e tnh gia tr a thc

a thc bac ba y = ax3 + bx2 + cx + d
Cach tnh cai tien
y0
y0
y0
yi+1
yi+1
yi+1

=
=
=
=
=
=

ax03 + bx02 + cx0 + d

xx02 + (3a
x2 + 2b
x)x0 + a
x3 + b
x2 + c
x
3a
6a
x2x0 + 6a
x3 + 2b
x2
yi + yi
yi + yi
yi + 6a
x3

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ng cong c bieu dien bang

Phng trnh tham so

Bai toan
Input:
Phng trnh tham so
x(t)
y(t)
Mien tham so
t [tmin, tmax]
Output:

x (t ) = a cos (t )
y (t ) = a sin (t )
z = bt

x(t ) = cos(5t ) cos(t )

y(t ) = cos(5t )sin(t )
t [0,2 ]
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Thuat toan
Bc 1 : Chia mien tham so ra
N oan bang nhau

Mien tham so
to
tmin

t1

t2

tN
tmax

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Thuat toan
Bc 2 : Tnh (x, y)

ti

tN

t2
t1
to

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Thuat toan
Bc 3 : Ve ng gap khuc i
qua N + 1 iem

(xN, yN)
(x2, y2)
(x1, y1)
(x0, y0)

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Cai at
// Hm v ng cong tham s
void DrawCurve2D(CDC *pDC, TPara2D f, double tmin, double tmax)
{
double t, t;
TPoint2D p;
t = (tmax tmin)/N;
t = tmin;
p = f(t);
pDC->MoveTo(ConvertWorldToScreen2D(p));
for(int i=1; i<=N; i++)
{
t += t;
p = f(t);
pDC->LineTo(ConvertWorldToScreen2D(p));
}
}

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Cai at
// Lp phng trnh tham s
class TPara2D {
virtual TPoint2D operator () (double t) = 0;
}

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Van e phan oan

x(t ) = cos t
y(t ) = sin t
t [0,2]

x(t ) = t cos t
y(t ) = t sin t
t [0,8]

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NG CONG BEZIER

nh ngha ng cong
Input
n +1 iem ieu khien {p0, p1, ... , pn}
Output
p1

p0

pn

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ng cong Bezier bac mot

p1

p0

p(t) = (1 t)p0 + tp1

t [0, 1]
hoac
x(t) = (1 t)p0x + tp1x
y(t) = (1 t)p0y + tp1y
t [0, 1]

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ng cong Bezier bac hai

p1
p2
p(t) = (1 t)2p0 + 2(1 t)tp1 + t2p2
t [0, 1]
hoac
x(t) = (1 t)2p0x + 2(1 t)tp1x + t2p2x
y(t) = (1 t)2p0y + 2(1 t)tp1y + t2p2y
t [0, 1]
p0

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ng cong Bezier bac ba

p1

p2

p0

p3

p(t) = (1 t)3p0 + 3(1 t)2tp1 + 3(1 t)t2p2 + t3p3

t [0, 1]
hoac
x(t) = (1 t)3p0x + 3(1 t)2tp1x + 3(1 t)t2p2x + t3p3x
y(t) = (1 t)3p0y + 3(1 t)2tp1y + 3(1 t)t2p2y + t3p3y
t [0, 1]
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Mot so ng cong Bezier bac ba

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Cong thc xac nh ng cong

Ptts ng cong Bezier bac n c tao bi n + 1iem ieu khien
k =n

p(t ) = Bnk (t ).pk

k=0

t [0,1]

vi Bnk (t ) =

n!
(1 t)nk t k
k! (n k )!

hoac
k =n

x(t ) = Bnk (t ).pk x

k =0
k =n

y(t ) = Bnk (t ).pky

k =0

t [0,1]

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Tnh chat 1
Bao toan qua phep bien oi affine.

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Tnh chat 2
Cac iem ieu khien tao thanh bao loi cua ng cong

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o thang cua ng cong Bezier

p1

p2

p0

p3

p0 p1 + p1 p2 + p2 p3
f=
p0 p3

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Thuat toan ve ng cong Bezier

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Thuat toan ve ng cong Bezier

Xet ng cong Bezier vi cac iem ieu khien {p0, p1,
... , pn}, noi cac iem lien tiep e tao thanh a giac ieu
khien

Chia moi oan trong a giac vi t so t:(1-t), noi cac
iem mi tnh, ta co c a giac vi so nh t hn 1

Lap lai bc tren cho en khi ch con mot iem n,
chnh la iem cua ng cong Bezier ng vi tham so t

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ao ham
p(0) = 3(p1 p0)
p(1) = 3(p3 p2)
p(0) = 6(p0 2p1 + p2)
p(1) = 6(p1 2p2 + p3)
p1

p2

p3
p0
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Tnh lien tuc

Mot ng cong Bezier khong u phc tap
Ghep nhieu ng cong Bezier vi nhau
Yeu cau tnh lien tuc tai cac iem ghep noi
Lien tuc tham so
C0: lien tuc tham so bac 0, hai Bezier co cung au mut
C1: C0 + co cung vector tiep tuyen tai iem au mut
C2: C1 + co cung ao ham bac 2 tai iem au mut

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Tnh lien tuc

Lien tuc bac 0

Lien tuc bac 1

Lien tuc bac 2

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Tnh lien tuc

Lien tuc hnh hoc
G1: tiep tuyen cung hng nhng khong can cung o
ln
G2: cung tiep tuyen va cung o cong

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Thuat toan ve e qui

p2

p1

p3
p0
l2
l1

l3 r0

r1
r2

r3
l0

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Thuat toan ve e qui

l0 = p0
p0 + p1
l1 =
2
p0 + 2p1 + p2
l2 =
4
p0 + 3p1 + 3p2 + p3
l3 =
8

p0 + 3p1 + 3p2 + p3
8
p1 + 2p2 + p3
r1 =
4
p2 + p3
r2 =
2

r0 =

r3 = p3

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Thuat toan ve e qui

Ve Bezier (p0, p1, p2, p3)
Bat au
Neu Thang (p0, p1, p2, p3) th
Ve oan thang p0p3
Ngc lai
Chia {pi} thanh {li} va {ri}
Ve Bezier (l0, l1, l2, l3)
Ve Bezier (r0, r1, r2, r3)
Ket thuc

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NG CONG HERMITE

nh ngha ng cong
Input
2 iem {p0, p1}
2 vector {v0, v1}
Ouput

v0
p0

v1
p1

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Cong thc xac nh ng cong

v0
p0

v1
p1

p(t) = H03(t)p0 + H13(t)p1 + H23(t)v0 + H33(t)v1

p(t) = (2t3 + 3t2 + 1)p0 + (-2t3 + 3t2)p1 + (t3 2t2 + t)v0 + (t3 t2)v1
t [0, 1]
hoac
x(t) = (2t3 + 3t2 + 1)p0x + (-2t3 + 3t2)p1x + (t3 2t2 + t)v0x + (t3 t2)v1x
y(t) = (2t3 + 3t2 + 1)p0y + (-2t3 + 3t2)p1y + (t3 2t2 + t)v0y + (t3 t2)v1y
t [0, 1]

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Mot so ng cong Hermite

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ng cong Bezier bac ba & Hermite

pH0 = pB0
p1H = pB3
vH0 = 3(p1B pB0 )
v1H = 3(pB3 pB2 )
p1B

pB2

vH0

B
3

p
B
0

H
0

p1H

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v1H

Dan nhap
Bao nhieu
ng cong?

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NG CONG PHC

nh ngha ng cong phc

ng cong phc la s ket hp cua nhng ng cong
c s C = {C1, C2, , Cn}
C2

C3

C4

C1
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Yeu cau thiet ke ng cong phc

oi vi ngi thiet ke
1. De ve
2. Lien tuc
3. Cuc bo
oi vi ngi lap trnh
1. Bieu dien de dang va hieu qua
2. Tnh toan hieu qua

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Tnh lien tuc

Lien tuc bac 0

Lien tuc bac 1

Lien tuc bac 2

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Phan loai
1. ng cong Splines
2. ng cong B-Splines
3. ng cong Nurbs (NonUniform Rational B-Splines)

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CAC NG CONG SPLINES

nh ngha ng cong Splines

Input
n +1 iem {P0, P1, ... , Pn}
va mot so thong tin khac
Output
C = {C1, C2, , Cn} vi Ci la cac ng cong Hermite
P1
Pn-1

C1

Cn

C2
P0

Pn
P2

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Cardinal Splines
- Tham so tension t

p0 = Pk

Pk
Pk+1

p1 = Pk +1
v0

Pk-1
Pk+2

(
1 t )
(P
=

k +1

Pk 1 )

2
(
1 t )
(Pk+ 2 Pk )
v1 =
2

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Anh hng cua tham so tension t

t<0

t>0

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Catmull--Rom Splines
Catmull
La trng hp ac biet cua Cardinal Splines vi t = 0

p0 = P1
P2
P1

P4

P3

p1 = P2
P2 P0
v0 =
2
P P1
v1 = 3
2

P0

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Kochanek--Bartels Splines
Kochanek
La trng hp tong quat cua Cardinal Splines
- Tham so tension t
- Tham so bias b
- Tham so continuity c
p0 = Pk
p1 = Pk +1
1
(1 t )[(1+ b)(1 c)(Pk Pk1) + (1 b)(1+ c)(Pk+1 Pk )]
2
1
v1 = (1 t )[(1+ b)(1+ c )(Pk +1 Pk ) + (1 b)(1 c )(Pk + 2 Pk +1 )]
2

v0 =

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Anh hng cua tham so bias b

b<0

b>0

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Natural Splines
La ng cong lien tuc C2
P1
v3
v0

v1

P3

P0

P2

v2

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Natural Splines

P1
v3
v0

v1

P3

P0

P2

v2

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Natural Splines
Trng hp 1 :
Biet cac vector v0 va vn
1

v0 v0

4 1 v1 3(P2 P0 )
1 4 1 v2 3(P3 P1)
=

1 4 1 vn1 3(Pn Pn 2 )

1 vn vn

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Natural Splines
Trng hp 2 :
ao ham bac hai tai hai iem P0 va Pn eu bang 0

2 1

1 4 1
1 4 1

v0 3(P1 P0 )

v1 3(P2 P0 )
v2 3(P3 P1)
=

4 1 vn1 3(Pn Pn 2 )

1 2 vn 3(Pn Pn1)

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Free Splines
La ng cong lien tuc C0

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NG CONG BB-SPLINES

nh ngha
Input
n +1 iem {P0, P1, ... , Pn}, Bac k 1, Tap hp tham so knot
{t0, t1, , tn+k}
Output
C = {C1, C2, , Cn-2} vi Ci la cac ng cong Bezier
P1

P2

C1

P5

C2
C3
P0

P3

P4

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Cong thc
i =n

p(t ) = Nki (t )Pi

i= 0

t [0,1]
Vi
1 neu t [ti , ti+1]
N (t ) =
0 khac
t ti
t t k 1
Nki (t ) =
Nki 1(t ) + i+k
Ni+1 (t )
t i+k 1 t i
t i+k ti+1
1
i

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Cong thc BB-Splines bac ba eu

P1
p0

P0

p1

p2

P2
P5

p3

P3

P0 + 4P1 + P2
p0 =
6
2P1 + P2
p1 =
3
P1 + 2P2
p2 =
3
P1 + 4P2 + P3
p3 =
6

P4

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Cong thc BB-Splines bac hai eu

p1P1

P2
p2
P5

p0 =

p1 = P1

p0

p2 =
P0

P1 P0
2

P3

P2 P1
2

P4

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NG CONG HU T

nh ngha
La ng cong trong o cac ham x(t) va y(t) la cac
ham a thc hu t

ng tron

ng ellipse

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ng Conic
Dang chuan
Ellipse
x2 y2
+ 2 = 1 a, b > 0
2
b
a
Hyperbola
x2 y2
2 = 1 a, b > 0
2
a
b
Parabola
y 2 = 4ax

a>0

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ng Conic
Dang tham so
Ellipse
1 t 2
x(t ) = a
1+ t 2
2t
y(t ) = b
1+ t 2
Hyperbola
1+ t 2
x(t ) = a
1 t 2
2t
y(t ) = b
1 t 2

t ( , )

t ( , )

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ng Bezier hu t bac hai

Input
p0(x0, y0) va trong so w0
p1(x1, y1) va trong so w1
p2(x2, y2) va trong so w2
Output

p1,w1

p0,w0

p2,w2

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Cong thc
He toa o thuan nhat
x(t )
x0
x1
x2

2
2
2
y(t ) = B0 (t ) y0 + B1 (t ) y1 + B2 (t ) y 2
w(t )
w
w
w

0
1
2
B02 (t )x0 + B12 (t )x1 + B22 (t )x 2
2

2
2
= B0 (t )y0 + B1 (t )y1 + B2 (t )y 2
B2 (t )w + B2 (t )w + B2 (t )w
0
1
1
2
2
0

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Cong thc
He toa o e cac

B02 (t )x0 + B12 (t )x1 + B22 (t )x 2

2

2
2
x (t ) B0 (t )w0 + B1 (t )w1 + B2 (t )w2

=
2
2
2

(
)
(
)
B
t
y
B
t
y
B
+
+
(
)
y
t

0
0
1
1
2 (t )y 2
2

2
2
(
)
(
)
(
)
B
t
w
B
t
w
B
t
w
+
+
0
0
1
1
2
2
x0
x1
x2
2
2
B (t ) + B1 (t ) + B2 (t )
y0
y1
y2

=
B02 (t )w0 + B12 (t )w1 + B22 (t )w2
2
0

x0
x1
x2
2
2
B (t )w0 + B1 (t )w1 + B2 (t )w2
y0
y1
y2

=
B02 (t )w0 + B12 (t )w1 + B22 (t )w2
2
0

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Bieu dien Conic bang Bezier hu t

ng Ellipse

a(1 t 2 )

x(t )
b(2t )

=
2
+
1
t
(
)
y
t

B02 (t )a + B12 (t )a + B22 (t )0

2

2
2
B0 (t )0 + B1 (t )b + B2 (t )2b

=
B02 (t ) + B12 (t ) + B22 (t )2
a
a
0
2
2
B (t ).1. + B1 (t ).1. + B1 (t ).2.
0
b
b

=
B02 (t ).1+ B12 (t ).1+ B22 (t ).2
2
0

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NG CONG NURBS

nh ngha
La ng cong phc C = {C1, C2, , Cn-2} vi Ci la cac
ng cong Bezier hu t

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