Berzier Curve

Pt

p i Bin t

i 0

1/101

Bernstein Polynomials
Degree 1: (1-t), t
Degree 2: (1-t)2, 2(1-t)t, t2
Degree 3: (1-t)3, 3(1-t)2t, 3(1-t)t2, t3
Degree 4: (1-t)4, 4(1-t)3t, 6(1-t)2t2, 4(1-t)t3,t4

2/101

Bernstein Polynomials
Degree 1: (1-t), t
Degree 2: (1-t)2, 2(1-t)t, t2
Degree 3: (1-t)3, 3(1-t)2t, 3(1-t)t2, t3
Degree 4: (1-t)4, 4(1-t)3t, 6(1-t)2t2, 4(1-t)t3,t4
Degree 5: (1-t)5, 5(1-t)4t, 10(1-t)3t2, 10(1-t)2t3
,5(1-t)t4,t5

n
n i i
Degree n: (1 t ) t for 0 i n
i

3/101

Properties of Bernstein Polynomials

n
Bin (t ) (1 t ) n i t i
i
1 Bi (t ) 0
n

t [0,1]

4/101

Properties of Bernstein Polynomials

n
Bin (t ) (1 t ) n i t i
i
1 Bi (t ) 0
n

t [0,1]
1 t 0
1 (1 t ) 0

5/101

Properties of Bernstein Polynomials

n
Bin (t ) (1 t ) n i t i
i
1 Bi (t ) 0
n

B
i 0

n
i

t [0,1]

(t ) 1

6/101

Properties of Bernstein Polynomials

n
Bin (t ) (1 t ) n i t i
i
1 Bi (t ) 0
n

B
i 0

n
i

t [0,1]

(t ) 1

Binomial Theorem: (a b)
n

n n i i
a b

i 0 i
n

7/101

Properties of Bernstein Polynomials

n
Bin (t ) (1 t ) n i t i
i
1 Bi (t ) 0
n

B
i 0

n
i

t [0,1]

(t ) 1

Binomial Theorem: (a b) n

i a

n i i

b

n
n
n
n
(1 t ) n i t i
B
(
t
)

i
i 0
i 0 i
i 0

8/101

Properties of Bernstein Polynomials

n
Bin (t ) (1 t ) n i t i
i
1 Bi (t ) 0

t [0,1]

B
i 0

n
i

(t ) 1

Binomial Theorem: (a b)
n

B
i 0

n
i

n n i i
a b

i 0 i
n

(t ) (1 t ) t

9/101

Properties of Bernstein Polynomials

n
Bin (t ) (1 t ) n i t i
i
1 Bi (t ) 0
n

B
i 0

n
i

t [0,1]

(t ) 1

Binomial Theorem: (a b) n
n

B
i 0

n
i

i 0

i a

n i i

(t ) 1
10/101

Properties of Bernstein Polynomials

n
Bin (t ) (1 t ) n i t i
i
1 Bi (t ) 0

t [0,1]

B
i 0

n
i

(t ) 1

max Bi (t ) Bi ( ni )
n

t[ 0,1]

11/101

Properties of Bernstein Polynomials

n
Bin (t ) (1 t ) n i t i
i
1 Bi (t ) 0

t [0,1]

B
i 0

n
i

(t ) 1

max Bi (t ) Bi ( ni )
n

t[ 0,1]

Bin ( t )
t

n
i(1 t ) ni t i 1 (n i)(1 t ) ni 1 t i 0
i

12/101

Properties of Bernstein Polynomials

n
Bin (t ) (1 t ) n i t i
i
1 Bi (t ) 0

t [0,1]

B
i 0

n
i

(t ) 1

max Bi (t ) Bi ( ni )
n

t[ 0,1]

Bin ( t )
t

n
(i nt )(1 t ) ni 1 t i 1 0
i
13/101

Properties of Bernstein Polynomials

n
Bin (t ) (1 t ) n i t i
i
1 Bi (t ) 0

t [0,1]

B
i 0

n
i

(t ) 1

max Bi (t ) Bi ( ni )
n

t[ 0,1]

i
n

14/101

More Properties of
Bernstein Polynomials
n 1

Bi (t ) (1 t ) Bi
n

(t ) tBin11 (t )

15/101

More Properties of
Bernstein Polynomials
n 1

Bi (t ) (1 t ) Bi
n

(t ) tBin11 (t )

i
j
n
t n Bi (t )
j
i 0

n

16/101

More Properties of
Bernstein Polynomials
n 1

Bi (t ) (1 t ) Bi
n

(t ) tBin11 (t )

i
j
n
t n Bi (t )

i 0
j
n
n
j i n j j
Bi (t ) (1) t
j 0
j i
n

17/101

More Properties of
Bernstein Polynomials
n 1

Bi (t ) (1 t ) Bi
n

(t ) tBin11 (t )

i
j
n
t n Bi (t )
j
i 0

n
n j
n
B
(
t
)

(1) j i t j
i

j 0
j i
n

n
i

(t )dt

1
n 1

18/101

Bezier Curve Properties

Interpolate end-points
n
p(t ) (1 t ) n i t i pi
i 0 i
n

19/101

Bezier Curve Properties

Interpolate end-points
n
n
p(0) (1 0) ni 0i pi p0
i 0 i

20/101

10

Bezier Curve Properties

Interpolate end-points
n
p(1) (1 1) n i 1i pi pn
i 0 i
n

21/101

Bezier Curve Properties

Interpolate end-points
n
n
p(1) (1 1) n i 1i pi pn
i 0 i

22/101

11

Bezier Curve Properties

Interpolate end-points
Tangent at end-points in direction of first/last
edge

n
p(t ) (1 t ) n i t i pi
i 0 i
n

23/101

Bezier Curve Properties

Interpolate end-points
Tangent at end-points in direction of first/last
edge

n
n
p(t ) n n
(1 t ) ni t i pi pi i(1 t ) ni t i 1 (n i)(1 t ) ni 1 t i
t
t i 0 i
i 0 i

24/101

12

Bezier Curve Properties

Interpolate end-points
Tangent at end-points in direction of first/last
edge

n
n
p(t ) n n
(1 t ) ni t i pi pi i(1 t ) ni t i 1 (n i)(1 t ) ni 1 t i
t
t i 0 i
i 0 i

n 1 n

p(t ) n n
pi i(1 t ) ni t i 1 pi (n i)(1 t ) ni 1 t i
t
i 1 i
i 0 i

25/101

Bezier Curve Properties

Interpolate end-points
Tangent at end-points in direction of first/last
edge

n
n
p(t ) n n
(1 t ) ni t i pi pi i(1 t ) ni t i 1 (n i)(1 t ) ni 1 t i
t
t i 0 i
i 0 i

n 1 n

p(t ) n n
pi i(1 t ) ni t i 1 pi (n i)(1 t ) ni 1 t i
t
i 1 i
i 0 i

n1
p(t ) n
n pi Bin11 (t ) n pi Bin1 (t )
t
i1
i0

26/101

13

Bezier Curve Properties

Interpolate end-points
Tangent at end-points in direction of first/last
edge

n
n
p(t ) n n
(1 t ) ni t i pi pi i(1 t ) ni t i 1 (n i)(1 t ) ni 1 t i
t
t i 0 i
i 0 i

n 1 n

p(t ) n n
pi i(1 t ) ni t i 1 pi (n i)(1 t ) ni 1 t i
t
i 1 i
i 0 i

n1
p(t ) n
n pi Bin11 (t ) n pi Bin1 (t )
t
i1
i0
n1
n1
n1
p(t )
n pi1Bin1 (t ) n pi Bin1 (t ) n( pi1 pi ) Bin1 (t )
t
i0
i0
i0

27/101

Bezier Curve Properties

Interpolate end-points
Tangent at end-points in direction of first/last
edge

n
n
p(t ) n n
(1 t ) ni t i pi pi i(1 t ) ni t i 1 (n i)(1 t ) ni 1 t i
t
t i 0 i
i 0 i

n 1 n

p(t ) n n
pi i(1 t ) ni t i 1 pi (n i)(1 t ) ni 1 t i
t
i 1 i
i 0 i
n1
Another Bezier curve of vectors!!!
p(t ) n
n pi Bin11 (t ) n pi Bin1 (t )
t
i1
i0
n1
n1
n1
p(t )
n pi1Bin1 (t ) n pi Bin1 (t ) n( pi1 pi ) Bin1 (t )
t
i0
i0
i0
28/101

14

Bezier Curve Properties

Interpolate end-points
Tangent at end-points in direction of first/last
edge

p(0)
n( p1 p0 )
t

p(1)
n( pn pn1 )
t

29/101

Bezier Curve Properties

Interpolate end-points
Tangent at end-points in direction of first/last
edge
Curve lies within the convex hull of the
control points

30/101

15

Bezier Curve Properties

Interpolate end-points
Tangent at end-points in direction of first/last
edge
Curve lies within the convex hull of the
control points
Bezier
Lagrange

31/101

Pyramid Algorithms for

Bezier Curves
Polynomials arent pretty
Is there an easier way to evaluate the
equation of a Bezier curve?

n
p(t ) (1 t ) n i t i pi
i 0 i
n

32/101

16

Pyramid Algorithms for

Bezier Curves

(1 t ) p0 t p1 (1 t ) p1 t p2

1 t

p0

1 t

(1 t ) p2 t p3
1 t

p3

p2

p1

33/101

Pyramid Algorithms for

Bezier Curves

(1 t ) 2 p0 2(1 t )t p1 t 2 p2

1 t

1 t

p0

1 t

p1

(1 t ) 2 p1 2(1 t )t p2 t 2 p3
1 t

1 t

p2

p3
34/101

17

Pyramid Algorithms for

Bezier Curves
(1 t )3 p0 3(1 t ) 2 t p1 3(1 t )t 2 p2 t 3 p3
1 t

1 t

1 t

p0

1 t

1 t

1 t

p3

p2

p1

35/101

Pyramid Algorithms for

Derivatives of Bezier Curves
p' (t )
1 t

1 t

p0

Take derivative of any

level of pyramid!!!
t

p1

1 t

t (up to constant multiple)

p2

p3
36/101

18

Pyramid Algorithms for

Derivatives of Bezier Curves
p' (t )
1

1 t

1 t

p0

1 t

p1

Take derivative of any

level of pyramid!!!

1 t

t (up to constant multiple)

1 t

p2

p3
37/101

19