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The Differential Geometry of Parametric Primitives PDF
The Differential Geometry of Parametric Primitives PDF
Ken Turkowski
Media Technologies: Graphics Software
Advanced Technology Group
Apple Computer, Inc.
(Draft Friday, May 18, 1990)
26 January 1990
Ken Turkowski
26 January 1990
so that the arc length of a curve segment, u = u( t) , t0 < t < t1 is given by:
1
ds
s = dt = x dt = x dt = (uG ut) 2dt
t1 t1 t1 t1
t 0 dt t0 t0 t0
The differential surface area enclosed by the differential parallelogram ( u,v) is approximately:
1
S ( G ) 2 uv
so that the area of a region of the surface corresponding to a region R in the u-v plane is:
1
S = ( G ) dudv 2
R
The second fundamental matrix measures normal curvature, and is given by:
2x 2x
n n
u2 u v
D = n H =
n x 2x
2
n 2
vu v
The normal curvature is defined to be positive a curve u on the surface turns toward the positive
direction of the surface normal by:
t
Du
u
n =
u
uG t
The deviation (in the normal direction) from the tangent plane of the surface, given a differential
is:
displacement of u
n = uD
x u t
Reparametrization
If the parametrization of the surface is transformed by the equations:
u = u(u,v) and v = v( u,v)
then the chain rule yields:
( x,y,z) ( u,v) ( x,y,z)
=
( u, v) ( u, v) (u,v)
or
J = PJ
where
( x, y,z)
J =
(u , v)
is the new Jacobian matrix of the surface with respect to the new parameters u and v , and
u v
( u,v) u u
P= =
(u , v) u v
v v
is the Jacobian matrix of the reparametrization.
The new Hessian is given by
H = PHP +QJ
T
where
(u, v) (u,v)
u 2 u v
Q=
( ) (u,v)
u, v
v u v 2 .
G = PGP
T
D = PDP
T
Change of Coordinates
For simplicity, we have defined several primitives with unit size, located at the origin. Related
to the reparametrization is the change of coordinates x = x ( x) , with associated Jacobian:
x y z
x x x
x x y z
C= =
x y y y
x y z
z z z
When the change of coordinates is represented by the affine transformation:
xx yx zx
x yy zy
A=
y
z
x yz zz
x yo zo
o
the Jacobian is simply the submatrix:
xx yx zx
C = xy yy zy
xz yz zz
Regardless, the Jacobian and Hessian transform as follows:
J = JC, H = HC
The normal is transformed as:
nC1 t
n = 1
(nC 1t C 1nt) 2
The denominator arises from the desire to have a unit normal.
The first and second fundamental matrices are then calculated as:
G = J J = JCC J
t t t
( HC) ( nC 1 t) HCC 1n t H n D
D = H n = 1 = 1 = 1 = 1
so that
J = rJ, H = rH, n = n, G = r G, D = r D
2
For rotations (and arbitrary translations), the Jacobian matrix C=R is orthogonal, so the inverse
is equal to the transpose, yielding:
J = JR, H = HR, n = nR, G = G, D =D
Combining the two, we have the results for a transformation that includes translations, rotations
and uniform scale:
Sphere
Given the spherical coordinates:
[ x y z] = [ r sin cos r sin sin r cos ]
we have the Jacobian matrix:
y x 0
( x,y,z)
= xz yz
x +y
2 2
( , ) x 2 + y2 x 2 + y2
the Hessian tensor:
yz xz
[ x y 0] 2 0
( x, y,z)
2
x + y2 x2 + y2
=
( , ) ( , ) yz xz
0 [ x y z]
x +y x +y
2 2 2 2
the normal:
x y z
n=
r r r
and the second fundamental form:
x2 + y2
0
D= r
0 r
Unit Sphere
Angle Parametrization
Given the unit spherical coordinates with 0 < 2, 0 < , we parametrize the sphere:
the normal:
n = [x y z]
and the second fundamental form:
( x2 + y2) 0
D =
0 1
Angle Parametrization
With the reparametrization = 2 u, = v , we have the Jacobian:
2 0
P=
0
yz xz
4 2[ x y 0] 2 0
x2 + y2 x2 + y2
Huv =
2 yz xz
0 [ x y z]
2
x +y x +y
2 2 2 2
4 2( x2 + y2) 0
Guv = 2
0
4 2( x 2 + y2) 0
Duv = 2
0
Changing coordinates to yield a sphere of arbitrary radius, we find that the expressions for the
Jacobian, the Hessian, and the metric matrix remain the same, because x, y, and z scale linearly
with r. The curvature matrix changes to:
4 2( x2 + y2)
Duv = 0
r
0 2r
Cone
Angle Parametrization
Given the unit conical parametrization:
[ x y z] = [ zcos zsin z]
we have the Jacobian matrix:
y x 0
J z = x y
1
z z
the Hessian tensor:
y x
[ x y 0] z z 0
H z =
y x
0 [ 0 0 0]
z z
the first fundamental form:
x2 + y2 0 2
z 0
G z = x2 + y2 + z2 =
0 0 2
z 2
the normal:
x y 1
n z =
z 2 z 2 2
and the second fundamental form:
z
0
D z = 2
0 0
Unit Parametrization
For the parametrization:
[ x y z] = [ rvcos2 u rv sin2 u vh]
we have:
2 y 2 x 0
Juv = hx hy
rz h
rz
2 2 h
4 [ x y 0] [ y x 0]
rz
Huv =
2 h
[ y x 0] [ 0 0 0]
rz
4 2( x2 + y2) 0
2
Guv = h(x + y + z)
2 2 2
0
z2
1 h2x h2y
nuv = 1
1+ h2 rz rz
4 2 rz
Duv = 1 + h2
0
0 0
Cylinder
Angle Parametrization
Given the cylindrical parametrization:
[ x y z] = [ cos sin z]
we have the Jacobian matrix:
y x 0
J =
0 0 1
the Hessian tensor:
[ x y 0] [ 0 0 0]
H =
[0 0 0] [ 0 0 0]
the first fundamental form:
1 0
G =
0 1
the normal:
n = [x y 0]
and the second fundamental form:
1 0
D =
0 0
Unit Parametrization
With the parametrization:
[ x y z] = [ r cos2 u r sin2 u hv]
we have the Jacobian matrix:
2 y 2 x 0
Juv =
0 0 h
the normal:
x y
n= 0
r r
and the second fundamental form:
4 2r 0
Duv =
0 0
Torus
Angle Parametrization
Given the torus parametrization:
H =
R R
yz xz
2 2 0 x 1 2 y 1 z
x + y x +y x +y x +y
2 2 2 2 2
the normal:
R R
1 2 1
x +y x +y
2 2 2
z
n= x y
r r r
( )
2
x + y R +z = r
2 2 2 2