PDPM IIITDM Jabalpur November 9, 2017: Surfaces

PDPM IIITDM Jabalpur November 9, 2017
Computer Aided Geometric Design Surface of revolution

Surfaces Simplest method
Revolve a two dimensional entity
 Line or a plane curve about an axis
Instructor: Dr. Prashant K. Jain

Associate Professor ME Discipline
PDPM Indian Institute of Information Technology,
Design and Manufacturing Jabalpur, Jabalpur, INDIA
Resources: web.iiitdmj.ac.in/~pkjain/
Email: pkjain@iiitdmj.ac.in, pkjain2006@gmail.com
http://www.iiitdmj.ac.in/Faculty/pkjain.html
http://in.linkedin.com/in/pkjain2006
https://www.facebook.com/pkjain2006
PDPM
INDIAN INSTITUTE OF INFORMATION TECHNOLOGY,
DESIGN AND MANUFACTURING JABALPUR
(An Institute of National Importance (INI) established by MHRD, Govt. of INDIA)
9-Nov-17 Dr. P. K. Jain (IIITDMJ) 4
Conical Surface of revolution Surface of revolution

For parametric equation of a point on a surface of revolution
the parametric equation of the entity to be rotated
P (t )  [ x (t ) y (t ) z (t )] 0  t  t max
function of the single parameter t.
Rotation about an axis causes the location of the point to also be a
function of the rotation angle Ø.
Thus, a point on a surface of revolution is specified by two
parameters t and Ø.
It is bi-parametric function.
Rotation about the x-axis of an entity, initially lying in the xy plane,
the surface equation is;
Q (t ,  )  [ x (t ) y (t ) cos  y (t ) sin  ]
9-Nov-17 Dr. P. K. Jain (IIITDMJ) 5 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 6
Surface of revolution
Sphere
Rotating plane curves also yields surfaces
of revolution.
A sphere is obtained by rotating an
origin-centered semicircle in the xy
plane about the x-axis.
the parametric equation of the circle
x  r cos 0   
y  r sin
the parametric equation of the sphere is
Q( , )  x( ) y( ) cos y( ) sin  0   

 r cos  r sin  cos  r sin  sin   0    2
Dr. Prashant K. Jain 1

Ellipsoid Paraboloid
An ellipsoid of revolution is obtained by
rotating parametric equation of an A paraboloid of revolution is obtained by rotating the parametric
origin centered semi ellipse in the xy parabola
plane.
x  a 2 0     max
the parametric equation of the semi ellipse
y  2 a
x  a cos 0    about the x-axis. The parametric surface is given by
y  b sin

Q( , )  a 2 2a cos 2a sin  0    max
parametric equation for any point on the
ellipsoid of revolution is 0    2
Q ( ,  )  a cos  b sin  cos  b sin  sin   0  

0    2
Hyperboloid Surface of Revolution
A hyperboloid of revolution is obtained by rotating the parametric Any parametric curve can be used to create a surface of revolution.
hyperbola Like cubic spline, Bezier and B-spline curves.
x  a sec 0    max
y  b tan
about the x-axis. The parametric surface is given by
Q ( ,  )  a sec  b tan  cos  b tan  sin   0     max

0    2
Surface of Revolution
in matrix form a parametric space curve is given by Derivatives: Surface of Revolution
P(t)=[T] [N] [G] Formally differentiating yields the parametric derivatives for a surface of
where [T], [N] and [G] are parameter, blending function and geometry revolution.
matrices, respectively. Specifically, the derivative in the axial direction is
The general form of the matrix equation for a surface of revolution is Qt(t, ø)=[T’] [N] [G] [S]
Q(t, ø)=[T] [N] [G] [S] and in the radial direction
where [S] represents the contribution due to rotation about an axis by Q ø(t, ø)=[T] [N] [G] [S’]
the angle ø. For the specific case of rotation about the x-axis
where the prime denotes appropriate differentiation.
1 0 0 0 The surface normal is given by the cross product of the parametric

  derivatives, i.e.,
0 cos sin 0
S   
0 0 0 0 n=Qt X Q ø
 
0 0 0 1

Finding point on surface Finding point on surface

Consider the line segment with end points P1[1 1 0] and P2[6 2 0] lying
in the xy plane. Rotating the line about the x-axis yields a conical surface. The point Q(1/ 2,  / 3) on the surface of revolution is
Determine the point on this surface at t=0.5,    / 3 (600 )
Q(1/ 2, / 3)  [1 5t (1 t ) cos (1 t ) sin]
The parametric equation for the line segment from P1 to P2 is
7 3    3   
 cos  sin 
2 2  3  2  3 
P (t )  [ x (t ) y ( t ) z ( t )]
P (t )  P1  ( P2  P1 )t 0  t 1 7 3 3 3
  
2 4 4 
With cartesian components
x(t )  x1  ( x2  x1 )t  1 5t  3.5 0.75 1.3
y(t)  y1  ( y2  y1 )t  1 t
z(t)  z1  (z2  z1)t  0
Contd…
Sweep Surface Sweep Surface

A three dimensional surface is obtained by traversing an entity, e.g., a line, The simplest sweep surface is obtained by traversing a line segment along a path.
polygon or curve, along a path in space called sweep surfaces. Parametric equation of a line segment is
Frequently used in geometric modeling. P(t)  P1  ( P2  P1 )t 0  t 1
Consider the position vector P[x y z 1] swept along the path represented by The corresponding sweep surface is given by
the sweep transformation [T(s)]. The position vector Q(s) representing the Q (t , s )  P (t )[T ( s )] 0  t  1, s1  s  s2
resulting curve is given by [T(s)] is the sweep transformation.
Q ( s )  P [T ( s )] s1  s  s 2 If the sweep transformation contains only translations and/ or local or overall

scalings, the resulting surface is planar.
The transformation [T(s)] determines the shape of the curve. For example, if
the path is straight line of length n parallel to the z-axis, then
1 0 0 0
0 1 0 0
[T ( s)]   0  s 1
0 0 1 0
 
0 0 ns 1
Here the sweep transformation matrix is a translation followed by a rotation

Sweep Surface given by 1 0 0 0
If the sweep transformation contains rotations, the resulting surface is 0 cos(2s) sin(2s) 0

[T (s)]   0
non-planar.  sin(2s) cos(2s) 0
 
The helical sweep surface obtained by simultaneously translating along ls 0 0 1
 
and rotating about the x-axis a line originally parallel to the y-axis. The parametric equation of the line segment is
Consider the line segment in the xy plane and parallel to the y-axis defined by end P(t)=P1+(P2- P1)t
points P1[0 0 0] and P2[0 3 0]. Determine the point at t=0.5, s=0.5 on the sweep = [0 0 0 1]+[0-0 3-0 0-0 1-1]t
surface generated by simultaneously translating the line 10 units along the x-axis and = [0 3t 0 1]
rotating it through 2 about the x-axis. The sweep surface is given by
Q(t, s)=[P(t)] [T(s)]
1 0 0 0
0 cos 2  s sin 2  s 0 
 0 3 t 0 1  
0  sin 2  s cos 2  s 0
 
 ls 0 0 1
1 0 0 0 
0  1 0 0 
Q ( 0 .5 , 0 .5 )  0 1 .5 0 1  
0 0 1 0 
 
5 0 0 1 
 5  1 .5 0 1

Sweep Surface Sweep Surface

Sweep the planar square defined by vertices P1 [0 -1 1], P2 [0 -1 -1],
P3 [0 1 -1], P4 [0 1 1] along the path x=10s, y=cos(s)-1 while
maintaining the normal to the polygon in the instantaneous direction
of the tangent to the path
The instantaneous direction of the path tangent is [10 -sin(s) 0].
The rotation angle about the z-axis to align the polygon normal with
the tangent to the path is thus
   sin (s ) 
  tan 1  
 10 
The sweep transformation is thus
 cos sin  0 0
  sin  cos 0 0 
T ( s )   
 0 0 1 0
 
 10 s cos(s )  1 0 1 
Contd…
Sweep Surface Piecewise surface representation
At s=0.5 the rotation angle is

   Analytical description does not exist
   sin  
  tan 1  2   Automobile bodies
 10 
   Aircraft fuselages and wings
 
    Ship hulls
 tan 1  
 10   Sculptures
  17 . 44 o  Bottles
 Shoes
The polygonal square at s=0.5 is thus given by
0 1 1 1  0 . 954  0 .3 0 0
Surface represented in piece wise fashion
0  1 1  0 .3 0
Q 
1
 
0 .954 0
 A vector valued parametric representation is used
0 1  1 1  0 0 1 0
     Axis independent
0 1 1 1  5 1 0 1
 Avoids infinite slope values
4.7  1.954 1 1  Allows unambiguous representation of multi-valued surfaces
4.7  1.954 1 1
   Facilitates representation in homogeneous coordinates
5.3  0.46 1 1

5.3  0.46 1 1
  Compatible with use of 3D homogeneous coordinate transformations
 
Piecewise surface representation Piecewise surface representation

The plane = 0=constant is
Consider spherical surface defined by
Specific curve on surface defined by plane intersecting sphere x sin0  y cos0  0
Consider intersection of unit sphere and a plane defined by the surface c1 x  b1 y  0
equation z=cosø1=a1=constant
The intersection of this plane
The resulting curve is a parallel of latitude. and a sphere yields a meridian of
The parametric equation for a unit sphere is longitude. Solving these
equations simultaneously yields
x2  y2  z2 1.0 the resulting curve; i.e.,
Thus
2  b 2 
x2  y2  1 a1 y2  1  1  z 2  1.0
c
 1  
Defines the intersection

Spherical Surface Patch Piecewise surface representation

The boundaries of a spherical surface patch on a unit sphere can be formed by
four planes, two parallels of latitude and two meridians of longitude, intersecting
the sphere. These curves are circular arcs.
The vector valued parametric equation for the resulting surface patch Q(, ø) is Can be defined by two end points and the tangent vectors at the ends.
Q ( ,  )  cos  sin  sin  sin  cos    1     2 , 1     2 Four patch boundary curves are defined by the four position vectors at
The surface patch is the locus of a point in three-dimensional space which moves the corners, and eight tangent vectors, two at each corner.
with two degrees of freedom controlled by the two parameter variables  and ø,
For the spherical patch, the tangent vectors are given by the parametric
i.e., it is a biparametric
derivatives of Q(, ø), i.e.,
Q
Q ( ,  )   ,     sin  sin  cos  sin  0

Q ( ,  )  cos  cos  sin  cos   sin  
  
0   and  
2 4 2
Piecewise surface representation Piecewise surface representation
The shape of the interior of the surface near each corner is controlled
by the twist vector or cross derivative at the corner. For the spherical
surface patch, the cross derivative or twist vector is
The normal to a surface patch at any point is given by the cross
2 product of the parametric derivatives.
 Q
Q ,  ,      sin  cos  cos  cos  0 Specifically for a spherical surface.

i j k
Consequently a quadrilateral surface patch can be completely Q Q   sin sin cos sin 0
described by
cos cos sin cos  sin
The 4 position vectors at the corners.
The 8 tangent vectors, two at each corner.
The 4 twist vectors at the corners.

  cos sin2  sin sin2   sin cos 
Mapping Parametric Surfaces Mapping Parametric Surfaces
Map the surface described by

A surface in object space is represented
x=3u+w 0u 1
by the functions that map this parametric
surface into xyz object space, i.e., y=2u+3w+uw 0w 1
x=x(u, w) z=0
y=y(u, w) In parametric space into object space.
z=z(u, w) since z=constant=0, the surface in object space is also two-dimensional

lying in the z=0 plane.
The boundaries of the surface in object space are defined by mapping the
boundaries of the rectangle in parametric space to object space. Thus, for
u=0; x=w, y=3w and y=3x
u=1 x=w+3, y=2(2w+1) and y=2(2x-5)
w=0 x=3u, y=2u and y=(2/3)x
w=1 x=3u+1, y=3u+3 and y=x+2

Mapping Parametric Surfaces Mapping Parametric Surfaces

………. in parametric space into object space. Calculate the coordinates of the point at
Map the surface described by u=w=0.5 on the surface in object space.
x(u, w)=(u-w)2 0u 1 First determine the boundary curves
y(u, w)=u-w2 0w 1 u=0; x=w2, y=-w2, z=0 and x=-y, z=0
z(u, w)=uw u=1; x=(1-w)2, y=1-w2, z=w and x=(1-z)2, y=1-z2
………. w=0; x=u2, y=u, z=0 and x=y2, z=0
w=1; x=(u-1)2, y=u-1, z=u and x=y2, z=1+y
Writing the parametric surfaces as the vector valued function
Q(u, w)=[x(u, w) y(u, w) z(u, w)]
=[(u-w)2 u-w2 uw]
yields Q(0.5, 0.5)=[0 0.25 0.25]
as the coordinates of the point at u=w=0.5.
Each of the components of the surface in
object space is a function of the
parameters u, w.
Mapping Parametric Surfaces Bilinear surface

Three Dimensional Surface Mapping Constructed from the four corner points of the unit square in parametric
(a) X component space, i.e., P(0, 0), P(0, 1), P(1, 1), P(1, 0).
(b) Y component
(c) Z component Any point in the interior of the surface is specified by linearly interpolating
(d) Complete
between opposite boundaries of the unit square.
Any point in the interior of the parametric square is given by
Q(u, w)=P(0, 0)(1-u)(1-w) + P(0, 1)(1-u)w + P(1, 0)u(1-w) + P(1, 1)uw
In matrix form
P(0,0) P(0,1) 1 w
Qu, w  1  u u   
 P(1,0) P(1,1)   w 
Bilinear surface Bilinear surface

the surface in object space is a vector valued function
Determine the point on the bilinear surface defined by
P(0, 0)= [0 0 1], Q(u, w) = [x(u, w) y(u, w) z(u, w)]
P(0, 1)=[1 1 1], then we have
P(1, 0)=[1 0 0],
Q(0.5, 0.5) = [0 0 1](1-0.5)(1-0.5) + [1 1 1] (1-0.5) (0.5)
P(1, 1)=[0 1 0],
i.e., the ends of opposite diagonals on opposite faces of a unit cube in + [1 0 0] (0.5) (1-0.5) + [0 1 0] (0.5) (0.5)
object space corresponding to u=w=0.5 in parametric space. = 0.25 [0 0 1] + 0.25 [1 1 1]+ 0.25 [1 0 0]
+ 0.25 [0 1 0]
= [0.5 0.5 0.5]

Ruled and Developable Surfaces Ruled and Developable Surfaces

Alternately,
A ruled surface is generated by a straight line moving along a path with
one degree of freedom. the curves corresponding to P(0, w) and P(1, w) are assumed known. The ruled
Ruled surface is obtained by linearly interpolating between two known surface is given by
boundary curves associated with the opposite sides of the unit square in Q(u, w) = P(0, w) (1-u) + P(1, w)u
parametric space, say P(u, 0) and P(u, 1). or Q  x(u, w) y(u, w) z (u, w
The surface is given by
 P ( 0, w ) 
Q(u, w) = P(u, 0) (1-w) + P(u, 1)w  1  u u  
or  P ( u , 0)   P (1, w) 
Q  x(u, w) y(u, w) z(u, w  1  w w  
 P (u ,1) 
Again the corners of the
Again Q(0, 0)=P(0, 0), etc., i.e., the ends of the specified curves are the
surface are coincident with
corners of the surface, are coincident.
the ends of the given curve,
Two of the edges of the blended or interpolated surface are coincident
and the appropriate edges of
with the given curves, i.e.,
the blended surface are
coincident with the given
Q(u, 0) = P(u, 0) and Q(u, 1) = P(u, 1)
boundary curves.

Consider a ruled surface formed by linearly blending the curves B-spline curves yields open uniform knot vectors for P(0, w) and P(1, w),
P(0, w) and P(1, w). respectively, of
Determine the point on the surface Q(u, w) at u=w=0.5. [X] = [0 0 0 1 2 3 3 3]
P(0, w) is a third-order (k=3) open B-spline curve with defining polygon vertices given [Y] = [0 0 0 1 2 2 2]
by B1[0 0 0], B2[1 1 0], B3[1 1 0], B4[2 1 0] and B5[3 0 0]. the un-normalized parameter ranges for the two curves are different,
Notice the double vertex B2=B3 which yields a cusp in the curve. 0 ≤ t ≤ 3 for P(0, w) and 0 ≤ s ≤ 2 for P(1, w).
P(1, w) is also a third order open B-spline curve. The ‘normalized’ value for the ruled surface Q at w=0.5 corresponds to t=1.5 for
Its defining polygon vertices are B’1[0 0 6], B’2[1 1 6], B’3[2 1 6], B’4[3 0 6]. P(0, w) and to s=1.0 for P(1, w).
P(0, w) yields:
P(0, w) = P(t)
= B1N1,3(t) + B2N2,3(t) + B3N3,3(t) + B4N4,3(t) + B5N5,3(t)
At w=0.5 or t=1.5
P(0, 0.5) = P(1.5)= (0)B1 + 0.125B2 + 0.75B3 + 0.125B4 + (0)B5
= 0.125 [1 1 0] + 0.75 [1 1 0] + 0.125[2 1 0]
= [1.125 1 0]

Similarly,
P(1,w) = P(s) A ruled surface is generated by a straight line
moving along a path with one degree of
= B1’N’1,3+ B’2N’2,3 + B’3N’3,3(s) + B’4N’4,3(s)
freedom.
At w = 0.5 or s = 1.0
Ruled surface is identified using the following
P(1, 0.5) = P(1.0) = (0)B’1 + 0.5B’2 + 0.5B’3 + (0)B’4 technique.
= 0.5[1 1 6] + 0.5[2 1 6] At any point on the surface, rotate a plane
= [1.5 1 6] containing the normal to the surface at that
point about the normal.
To obtain the point on the ruled surface yields
If there is at least one orientation in which every
Q(u, w) = P(0, w) (1-u) + P(1, w) u point on the edge of the plane contacts the
and Q(0.5, 0.5) = P(0, 0.5) (1-0.5) + P(1, 0.5) (0.5) surface, the surface is ruled in that direction.
= 0.5 [1.125 1 0] + 0.5 [1.5 1 6] If the edge of the rotating plane completely
touches the surface in more than one
= [1.3125 1 3] orientation, the surface is multiply ruled at
that point.

Developable Surfaces Developable Surfaces
All ruled surfaces are not developable surface, however all developable Euler the great Swiss mathematician, Showed that unique directions for
surfaces are ruled. which the curvature is a minimum and a maximum exists.
To find whether surface or a portion of a surface is developable or not The curvatures in these directions are called the principle curvatures, Kmin
curvature of parametric surface is considered. and Kmax.
The principal curvature directions are orthogonal.
At any point P on a surface, the curve Two combinations of the principal curvatures are of particular interest,
of intersection of a plane containing
 Average
the normal to the surface at P and the  min   max
H 
surface, has a curvature K. 2
As the plane is rotated about the and
normal, the curvature changes.  Gaussian curvatures.
There will be unique directions for K   min  max
which the curvature is a minimum and For a developable surface the Gaussian curvature K is everywhere
a maximum exists. zero, i.e., K=0.
Developable Surfaces
Dill has shown that for bi-parametric surfaces the average and Show that an elliptic cone is a developable surface.
Gaussian curvatures are given by: Rewriting equation for a parametric elliptic cone in terms of u and w
2 2 yields Q (u , w )  au cos w bu sin w cu 
A Qw  2 BQu  Qw  C Qu
H 3
2 Qu  Qw The partial derivatives are:
AC  B 2 Qu  a cos w b sin w c
K 4
Qu  Qw Qw   au sin w bu cos w 0
where Quw   a sin w b cos w 0
 A B C   Qu  Qw  Quu Quw Qww  Quu  0 0 0
Effect of Gaussian curvature Qww   au cos w  bu sin w 0

ĸminĸmax K Shape Qu  Qw   bcu cos w  acusin w abu
Same Sign >0 Elliptic (bump or hollow) 2 2
2  c  c  
Opposite sign <0 Hyperbolic (saddle point) Qu  Qw  (abu)2  cosw   sin w 1  0 u 0
One or both 0 Cylindrical/ conical (ridge,  a  b  
zero hollow, plane)
Linear Coons Surface

If the four boundary curves P(u, 0), P(u, 1), P(0, w) and P(1, w) are known
And
A   bcucos w  acusin w abu 0 0 0  0 and a bilinear blending function is used for the interior of the surface
patch, a linear Coons surface is obtained.
B   bcucos w  acusin w abu  a sin w b cos w 0
At first glance it might be assumed that a simple sum of the singly ruled
 abcusin wcow abcusin w cos w  0 surface in the two directions u, w would yield the desired result. If this
C   bcucosw  acusinw abu  aucosw  businw 0 is done then
 abcu 2 cos 2 w  abcu 2 sin 2 w  abcu 2 Q(u, w) = P(u, 0) (1-w) + P(u, 1)w + P(0, w) (1-u) + P(1, w)u
Hence, using equation at the corners of the surface patch yields, e.g.,
2
AC  B
K  4
Q(0, 0) = P(0, 0) + P(0, 0)=2P(0, 0)
Qu  Qw
and at the edges, e.g.,
2
( 0 )( abcu )  (0 ) Q(0, w) = P(0, 0) (1-w) + P(0, 1)w + P(0, w)
 4
 0
Qu  Qw
everywhere on the surface,
Hence the surface is developable.

Linear Coons Surface Linear Coons Surface

The correct result is obtained by subtracting the excess contribution to
the surface due to duplication of the corner point. In matrix form, equation is
This yield P(0, w) 1 w
Q(u, w)  1 u u    P(u,0) P(u,1)  w 
Q(u, w) = P(u, 0) (1-w) + P(u, 1)w + P(0, w) (1-u) + P(1, w)u  P(1, w)   
– P(0, 0) (1-u) (1-w) – P(0, 1) (1-u)w – P(1, 0)u(1-w) – P(1, 1)uw  P (0,0) P (0,1)  1  w 
 1  u u    
Here, at the corners,
 P (1,0) P (1,1)   w 
Q(0, 0) = P(0, 0), etc. or more compactly as
and along the boundaries,  P(0,0)  P(0,1) P(0, w) 1  w
Q(0, w) = P(0, w) Q(u, w)  1  u u 1   P(1,0)  P(1,1) P(1, w)   w 
Q(u, 1) = P(u, 1)  P(u,0) P(u,1) 0   1 
Coons Bicubic Surface Coons Bicubic Surface
Linear Coons Surface For a single normalized cubic spline segment with known tangent and
 Are not sufficiently flexible for many position vectors at the ends, each of the four boundary curves, P(u, 0),
applications.
P(u, 1), P(0, w) and P(1, w), is given by
The coons bicubic surface patch uses
P(t) = [T] [N] [G]
normalized cubic splines for all four
boundary curves.  2 2 1 1   P1 
Cubic blending functions are used to  3 3 2  1  P2 
define the interior of the patch.  t 3
t 2

t 1
0 0 1 0   P1' 
0  t 1
Thus, each boundary curve is of the   
 1 0 0 0   P2' 
general form
P(t) = B1t + B2t + B3t2 + B4t3 where t becomes u or w as appropriate and P1, P2, P1’, P2’ are the position
0≤ t ≤ 1 and tangent vectors at the ends of the appropriate boundary curve.
Coons Bicubic Surface Coons Bicubic Surface

The cubic blending function used for both parametric directions is
identical to the one used to blend the interior of a normalized cubic The definition for a Coons bi-cubic patch is
spline curve; i.e.,
 P(0,0) P(0,1) Pw (0,0) Pw (0,1)   F1 (w)
[F] = [ F1(t) F2(t) F3(t) F4(t) ] = [T] [N]  P(1,0) P(1,1) Pw (1,0) Pw (1,1)  F2 (w)
Q(u, w)  F1(u) F2 (u) F3 (u) F4 (u) 
 2 2 1 1 Pu (0,0) Pu (0,1) Puw(0,0) Puw(0,1) F3 (w)
 3   
3 2  1  Pu (1,0) Pu (1,1) Puw(1,0) Puw(1,1)  F4 (w)
 t  3
t 2
t 
1
 0 0 1 0

  for 0 ≤ u ≤ 1 and 0 ≤ w ≤ 1.
 1 0 0 0
Blending functions are as: The definition can be more compactly written as
F1(t) = 2t3 – 3t2 + 1 Q(u, w) = [U] [N] [P] [N]T [W]
F2(t) = -2t3 + 3t2 where [U] = [u3 u2 u 1] and [W]T = [w3 w2 w 1]
F3(t) = t3 – 2t2 +t
F4(t) = t3 – t2
Where t is either u or w as appropriate.

Coons Bicubic Surface Derivatives of Bicubic Surface

The parametric derivatives at any point on a bi-cubic surface are obtained by formally
A bi-cubic surface patch is defined by differentiating
the four position vectors at the Qu(u, w) = [U’] [N] [P] [N]T [W]
corners, eight tangent vectors, two Qw(u, w) = [U] [N] [P] [N]T [W’]
at each corner, the four twist vectors Quw(u, w) = [U’] [N] [P] [N]T [W’]
at the corners, and the four cubic Quu(u, w) = [U’’] [N] [P] [N]T [W]
blending functions F1, F2, F3 and F4. Qww(u, w) = [U] [N] [P] [N]T [W’’]
Where the primes denote differentiation with respect to the appropriate variable and
[U’] = [3u2 2u 1 0]
[W’]T = [3w2 2w 1 0]
[U’’] = [6u 2 0 0]
[W’’]T = [6w 2 0 0]
The normal to the surface, which is important in hidden surface, illumination model,
and numerical control calculations, is given by
n = Qu x Qw
Effect of tangent vector magnitude Effect of twist vector magnitude
The magnitude of the twist vector component at P(0, 0) is

(a) 1; (a) 10;
(b) 10; (b) 100;
(c) 100; (c) 1000;
(d) 1000 (d) 10,000.
Triangular and pentagonal patch Triangular patch
The parametric domain is defined by a symmetric unit triangle of

0 ≤ u ≤ 1, 0 ≤ v ≤1 and 0 ≤ w ≤ 1.
Non-quadrilateral patches. (a) Pentagonal; (b) triangular.

Bezier Surfaces
Bezier Surfaces
Coons bicubic surfaces provide a flexible and powerful surface design tool. However, A Bezier surface is given by
n m
practical usage suffers from the necessity of specifying precise, non-intuitive Q (u , w )  B i, j J n ,i ( u ) K m , j ( w )
mathematical information, e.g., position, tangent and twist vectors. i0 j 0
where Jn, i(u) and Km, j(w) are the Bernstein basis functions in the u and w
parametric directions. Repeating the definition previously given for
convenience yields
n  m
J n , i ( u )   u i (1  u ) n  i and Km, j (w)   wi (1  w) m j
i  j
with n n! m m!

 i   i! ( n  i )! and   
   j  j!( m  j )!
The Bi, j’s are the vertices of a defining polygon net in u and w directions,
respectively.
For quadrilateral surface patches the defining polygon net must be topologically
rectangular, i.e., the net must have the same number of vertices in each
Bezier surface nomenclature
Schematic of defining polygon net ‘row’.
Bezier Surfaces Effect of increasing magnitude of tangent vector
Many properties of the surface are similar to curves and are known.
The degree of the surface in each parametric direction is one less than the
number of defining polygon vertices in that direction.
The continuity of the surface in each parametric direction is two less than
the number of defining polygon vertices in that direction.
The surface generally follows the shape of the defining polygon net.
Only the corner points of the defining polygon net and the surface are
coincident.
The surface is contained within the convex hull of the defining polygon
net.
The surface does not exhibit the variation diminishing property. The
variation diminishing property for bivariant surfaces is both undefined and
unknown.
The surface is invariant under an affine transformation.
Effect of change in tangent vector direction and Bezier Surfaces

magnitude of twist vector
In matrix form a Cartesian product Bezier surface is given by

Q(u, w) = [U] [N] [B] [M]T [W]
where
U  un un1 ... 1 
W  wm wm1 ... 1 
T
 B 0 ,0 ... B0 ,m 
B    ... ... ... 

 B n , 0 ... B n , m 

Bezier Surfaces Bezier Surfaces

A Bezier surface need not be square.
For a 5x3 net equation yields
 1 4 6 4 1
 4  12  12 4 0 
For the specific case of a 4x4 bicubic Bezier surface 

Q (u , w )  u 4 u3 u2 u 
1 6  12 6 0 0 
Equation reduces to  
 4 4 0 0 0
 1 3  3 1   B0 , 0 B0 ,1 B0 , 2 B0 , 3   1 0 0 0 0 
 3 6  B1,3 
3 0   B1, 0 B1,1 B1, 2  B 0 , 0 B 0 ,1 B0,2 

Q (u , w)  u 3 u2 u 1 
 3 3 0 0   B2 , 0 B2 ,1 B2 , 2 B2 , 3 
 B B1, 2   1 w2 
    1, 0 B1,1 2 1
 
1 0 0 0   B3, 0 B3,1 B3 , 2 B3,3   B 2 , 0 B 2 ,1 B2, 2    2 2 0  w
  1 
1 3 3 1 w3   B 3, 0 B 3 ,1 B 3 , 2   1 0 0   
 3 6    B 4 , 0 B 4 ,1 B 4 , 2 
 3 0   w 2  
 3 3 0 0  w 
  
1 0 0 0   1 
Derivatives of a Bezier surface Bezier surface
The derivatives of a Bezier surface are obtained by formal The relationship between a bicubic Bezier and bicubic Coons surface is
differentiation of equations. easily found.
First and second parametric derivatives are Recalling equations and equating them yields
n m
QCoons(u, w) = QBezier(u, w)
Qu (u , w )    Bi , j J 'n ,i (u ) K m , j ( w )
i0 j 0
n m
[U] [NC] [P] [NC]T [W] = [U] [NB] [B] [NB]T [W]
Qw (u , w)    Bi , j J n ,i (u ) K 'm , j ( w )
i 0 j  0
n m
where [NC] and [NB] are known equations. Hence the bicubic Coons
Quw (u , w )    Bi , j J 'n , i (u ) K ' m , j ( w )
i0 j 0 surface geometric matrix [P] is given in terms of the Bezier surface
n m
Quu (u , w)    Bi , j J ' 'n ,i (u ) K m , j ( w) polygon net as
P   N C  1 N B B N B T N C T 
1
i 0 j  0
n m
Qww (u , w )    Bi , j J n , i (u ) K ' ' m , j ( w)
i 0 j 0
Bezier surface
In matrix form
 P(0,0) P(0,1) Pw (0,0) Pw (0,1) 
Using previous equations this can also be shown
 P(1,0) P(1,1) P (1,0) P (1,1) 
 w w 
 Pu (0,0) Pu (0,1) Puw (0,0) Puw (0,1) 
 
 Pu (1,0) Pu (1,1) Puw (0,1) Puw (1,1) 
 P(0,0) P(0,1) Pw (0,0) Pw (0,1)   Q(0,0) Q(0,1) Qw(0,0) Qw (0,1) 
 B0 ,0 B0,3 3( B0,1  B0,0 ) 3( B0,3  B0 ,2 )   P(1,0) P(1,1) Pw(1,0) Pw (1,1)   Q(1,0) Q(1,1) Qw (1,0) Qw (1,1) 
 B3,0 B3,3 3( B3,1  B3,0 ) 3( B3,3  B3,2 )   
  Pu (0,0) Pu (0,1) Puw(0,0) Puw(0,1) Qu (0,0) Qu (0,1) Quw(0,0) Quw(0,1)
 3( B1,0  B0,0 ) 3( B1,3  B0,3 ) 9( B0 ,0  B1,0  B0,1  B1,1 ) 9( B0, 2  B1,2  B0 ,3  B1,3 ) 
     
3( B3,0  B2,0 ) 3( B3,3  B2,3 ) 9( B2,0  B3,0  B2 ,1  B3,1 ) 9( B2 ,2  B3,2  B2,3  B3,3 )  Pu (1,0) Pu (1,1) Puw(0,1) Puw(1,1)  Qu (1,0) Qu (1,1) Quw(0,1) Quw(1,1) 
• Lower right 2x2 submatrix confirms that the center four defining polygon net
vertices influence the twist at the bicubic Bezier patch corners.
• The twist at a corner controlled by not only the center polygon vertices but also by
the adjacent tangent vectors.
• In fact, the twist at the corner is controlled by the shape of the nonplanar
quadrilateral formed by the corner, the two adjacent boundary points and the
adjacent center point.

Bezier surface Joining two Bezier Patch
Similarly the inverse relationship between [P] and [B] which gives the Bezier For C0 continuity along the edge of two boundary curves and hence two
polygon net vertices in terms of the Coons bicubic surface parameters is boundary polygons along edge must be coincident.
For C1 continuity across the patch boundary, surface normal direction along
B0,0 B0,1 B0,2 B0,3  boundary edge must be same. Two conditions may be used to achieve this:
B Four polygon net lines that meet at and cross the boundary edge to be collinear.
B1,1 B1,2 B1,3 

 1,0   Three polygon net edges meeting at the ends of the boundary curve to be coplanar.
B2,0 B2,1 B2, 2 B2,3 
 
B3,0 B3,1 B3,2 B3,3 
 3P0,0 3P0,0  Pw0,0 3P0,1  Pw 0,1 3P0,1 

 1 1 
3P0,0  Pu 0,0 Puw0,0 9P0,0  3Pw0,0  Pu 0,0 Puw 0,1  9P0,1  3Pu 0,1  Pw 0,1 3P0,1  Pu 0,1
 1 3 3 
  1 1
 3   3P1,0  P 1,0
u Puw1,0  9P1,0  3Pw1,0  Pu 1,0 3 Puw1,1  9P1,1  3Pu 1,1  Pw 1,1 3P1,1  Pu 1,1 
 3 3P1,1  Pw 1,1 3P1,1
3P1,0 3P1,0  Pw1,0 

Blending of two Bezier surface patches B Spline Surface

n1 m1
Q(u, w)   Bi , j N i , k (u )M j ,l (w)
i 1 j 1
where, Ni, k(u) and Nj, l(w) are the B-spline basis functions in the biparametric u
and w directions, respectively.
The definition for the basis functions given as
1 if xi  u  xi 1
Ni ,1 (u)  
0 otherwise
(u  xi ) N i ,k 1 (u ) ( xi  k  u ) N i 1,k 1 (u )
N i ,k (u )  
xi  k 1  xi xi  k  xi 1
 1 if y j  w  y j  1
M j ,1 (w)  
0 otherwise
(w  y j )m j ,l 1 (w) ( y j l  w)M j 1,l 1 (w)

N j ,l (w)  
y j l 1  y j y j l  y j 1
where the xi and yj are elements of knot vectors.

Again the Bi, j’s are the vertices of a defining polygon net.
Properties of B Spline Surface

 The maximum order of the surface in each parametric direction is equal to the
number of defining polygon vertices in that direction.
Non-uniform knot vectors can be used in both parametric directions.
 The continuity of the surface in each parametric direction is two less than the order
Although it is common to use the same type of knot vectors in both in each direction; i.e., Ck-2 and Cl-2 in the u and w directions, respectively.
parametric directions, it is not required.  The surface is invariant with respect to an affine transformation; i.e., the surface is
Because the B-spline basis is used to describe both the boundary transformed by transforming the defining polygon net.
curves and to blend the interior of the surface, several properties of  The variation diminishing property for B-spline surfaces is currently not known.
the B-spline surface are immediately known:  The influence of a single polygon net vertex is limited to  k 2,  l 2 spans in each
parametric direction.
 If the number of defining polygon net vertices is equal to the order in each
parametric direction and there are no interior knot values, then the B-spline surface
reduces to a Bezier surface.
 If triangulated, the defining polygon net forms a planar approximation to the surface.
 The surface lies within the convex hull of the defining polygon net formed by taking
the union of all convex hulls of K, l neighbouring polygon net veritces.

Effect of collinear vertices Effect of collinear vertices

Small interior flat region due to three collinear net vertices in u Larger interior flat region due to five collinear net vertices in u
Effect of collinear vertices Effect of multiple coincident net lines

Fourth order B-Spline surfaces with multiple coincident net lines
Flat region embedded within sculptured surface
Local control in B-Spline surfaces

The excellent local control properties of B-spline curves carry over to B-spline surfaces.
an open bicubic (k=l=4) B-spline surface is defined by a 9x9 (m=n=8) polygon net. The polygon
net, is flat except for the center point.
The parametric derivatives of a B-spline surface are obtained by
The open knot vector in both parametric directions is
formally differentiating.
[0 0 0 0 1 2 3 4 5 6 6 6 6].
Thus, there are six parametric spans in each direction, i.e., n 1 m 1
Qu (u , w )    Bi , j N 'i ,k (u ) M j ,l ( w)
0 - 1, 1 - 2, …, 5 - 6. i 1 j 1
n 1 m 1
Each parametric quadrilateral, e.g., 0  u  1, 0  w  1, forms a B-spline surface subpatch.
Qw (u , w )    Bi , j N 'i , k (u ) M j ,l ( w)
The influence of the displaced i 1 j 1
point is confined to n 1 m 1
spans or sub-patches.  k 2, l 2 polygon net Quw (u , w )    Bi , j N 'i , k (u ) M ' j , l ( w )
i 1 j 1
n 1 m 1
Quu (u , w)    Bi , j N ' 'i , k (u ) M j ,l ( w)
i 1 j 1
parametric lines of each parametric
n 1 m 1
interval, at u, w = 0, 1, 2, 3, 4, 5, 6.
Qww (u , w )    Bi , j N i , k (u ) M ' ' j ,l ( w)
i 1 j 1
B-Spline surface

Consider the B-spline surface defined by the 4x4 polygon net:
B Spline surface
B1,1[-15 0 15] B2,1[-5 5 15] B3,1[5 5 15] B4,1[15 0 15]
4 4
Q(u, w)   Bi, j Ni, 4 (u)M j ,3 (w)
B1,2[-15 5 15] B2,2[-5 10 5] B3,2[5 10 5] B4,2[15 5 5] i 1 j 1
B1,3[-15 5 -5] B2,3[-5 10 -5] B3,3[5 10 -5] B4,3[15 5 -5]  N1,4 B1,1M1,3  B1,2M2,3  B1,3M3,3  B1,4M4,3 
 N2,4 B2,1M1,3  B2,2M2,3  B2,3M3,3  B2,4M4,3 
B1,4[-15 0 -15] B2,4[-5 5 -15] B3,4[5 5 -15] B4,4[15 0 -15]
 N3,4 B3,1M1,3  B3,2M2,3  B3,3M3,3  B3,4M4,3 
The surface is fourth-order in the u direction (k=4) and third order in the w
direction (l=3). Thus the surface is composed of two subpatches: one for 0  u  1,  N4,4B4,1M1,3  B4,2M2,3  B4,3M3,3  B4,4M4,3 
0  w  1 and the other for 0  u 1, 1  w  2.
Determine the surface point at the center of the surface, i.e., at u=1/2, w=1.
Here, the knot vector in the u direction is

[X] = [0 0 0 0 1 1 1 1]
The basis functions are 3
1 3 1 1
N1, 4    1  u     
2  2 8
2
Thus
1 2  1  1  3
N 2, 4    3u 1  u   3    1 1 1  3 1 1 
 2  2  2  8 Q 1 2,1   (0 ) B1,1  B1, 2  B1,3  (0 ) B1, 4   ( 0) B 2 ,1  B 2 , 2  B 2 ,3  (0 ) B 2 , 4 
2 8 2 2  8 2 2 
1 1 1 3
N 3, 4    3u 2 1  u   3    
2  2 2 8 3 1 1  1 1 1 
 ( 0) B3,1  B3, 2  B3, 3  ( 0) B3, 4   (0 ) B 4 ,1  B 4 , 2  B 4 , 3  (0 ) B 4 , 4 
3 8 2 2  8 2 2 
1 1 1
N 4, 4    u 3    
2 2 8
Similarly, the knot vector in the w direction is

[Y]=[0 0 0 1 2 2 2] Q 1 2,1 
1
B1, 2  B1,3   3 B2, 2  B2, 3   163 B3, 2  B3, 3   161 B4 , 2  B4,3 
16 16
The basis function are M 1, 3 1  0 1 3
  15 5 5   5 10  5   5 10 5    5 10  5 
16 16
1  2  w 2  12
2
1
M 2,3   3 1
2 2 2  5 10 5  5 10  5  15 5 5   15 5  5
2  w 3w  2   2  13  2   1 16 16
M 3,3 1 
2 2 2  0 35 / 4 0
2
M 4 ,3 1   w  1   1  1   0
Closed Periodic B-spline surfaces Rational B-spline surfaces

n 1 m 1
Q ( u , w )    B h i , j N i , k (u ) M j , l ( w )
i 1 j 1
where the Bhi,j’s are the 4D homogenous defining polygon vertices and Ni, k(u) and
Mj, l(w) are the non-rational B-spline basis functions.
Projecting back into three-dimensional space by dividing through by the
homogenous coordinate gives the rational B-spline surface.
n 1 m 1
h i, j B h i , j N i , k ( u ) M j ,l ( w ) n 1 m 1
i 1 j 1
Q (u , w )  n 1 m 1
 Q (u , w )    Bi , j S i , j (u , w)
i 1 j 1
h
i 1 j 1
i, j N i , k ( u ) M j ,l ( w )
where the Bi, j’s are the 3D defining polygon net points and the Si, j(u, w) are
bivariant rational B-spline surface basis functions
h N i , k (u ) M
i, j j ,l ( w)
S i , j (u , w )  n 1 m 1
  hi1, j1 N i1,k (u ) M
i 1 j 1
j 1, l ( w)
It is convenient to assume hi,j  0 for all i, j.

Properties of Rational B-spline surfaces Properties of Rational B-spline surfaces
Spline surfaces have similar analytic and geometric properties to their A rational B-spline surface is invariant with respect to a projective
nonrational counterparts. transformation; i.e., any projective transformation can be applied to the
Specifically, surface by applying it to the defining polygon net. Note this is a stronger
The sum of the rational surface basis functions for any u, w values is condition than that for a nonrational B-spline surface.
n 1 m 1 The surface lies within the convex hull of the defining polygon net formed by
Si 1 j 1
i, j (u , w )  1 taking the union of all convex hull of k, l neighboring polygon net vertices.
The variation diminishing property is not known for rational B-spline surface.
Each rational surface basis function is positive or zero for all parameter values
u, w, i.e., Si, j  0. The influence of a single polygon net vertex is limited to k/2, l/2 spans in
each parametric direction.
Except for k=1 or l=1, each rational surface basis function has precisely one
maximum. If triangulated, the defining polygon net forms a planar approximation to the
surface.
The maximum order of a rational B-spline surface in each parametric
direction is equal to the number of defining polygon vertices in that direction. If the number of defining polygon net vertices is equal to the order in each
parametric direction and there are no duplicate interior knot values, the
A rational B-spline surface of order k, l (degree k-1, l-1) is Ck-2 , Cl-2 continuous
rational B-spline surface is a rational Bezier surface.
everywhere.
Rational B-spline surfaces with n+1 = 5, m+1 = 4, k = l= 4 Rational B-splined ruled surface
Determine the point at u = w = 0.5 on a ruled surface formed by blending a 120o

circular arc represented by a third order rational B-spline curve defined by
B1, 1[0 0 0], B1, 2[1 3 0], B1, 3[2 0 0] and [H] = [1 1/2 1],
with a fourth order rational curve defined by
B2, 1[0 0 10], B2,2[1 1 10], B3,2[2 0 10], B4, 2[3 1 10]
h1,3 = h2,3 =0 with [H] = [1 3/4 5 1].
Defining polygon net
First it is necessary to raise the degree of the circular arc.
The circular arc is in fact a rational Bezier curve. For the rational case the degree
raising technique is applied to the 4D homogenous coordinates.
The results are
B h 1  B h 1
B h  i   i B h i 1  (1   i ) B h i
i
h1,3 = h2,3 = 5 i  i  2 ,..., n
h1,3 = h2,3 = 1, n 1
is identical to the nonrational B-spline surface B h  n 1  B h n
Rational B-splined ruled surface

Projecting back into 3D space yields Rational B-splined ruled surface
B 1  B1
 h  (1   i ) hi Bi Each curve now has four defining polygon vertices.
B  i  i i 1 i  2 ,...., n
 i hi 1  (1   i ) hi The knot vector for each curve is [X] = [Y] = [0 0 0 0 1 1 1 1].
Hence knot insertion is unnecessary.
h  i   i hi 1  (1   i ) hi
For u = w = 0.5
Using these results to raise the degree of the 120o arc yields
N1,2 = 0.5 ; N2,2 = 0.5
h 1,1  h1,1  1
M1, 4 = 0.125 M2,4 = 0.375; M3, 4 = 0.375; M4, 4 = 0.125
B 
1 ,1  B1,1  0 0 0
hi , j N i ,k (u ) M j ,l ( w)
1  2  1   2  Equation S i , j (u , w )  yields
h 1, 2    1         n 1 m 1
3  3  2   3  h i 1, j 1 N i1, k (u ) M j 1, l ( w)
1 21  2 1 
B 1, 2   10 0 0     1  3 
0 
3
0 S1, 1 = 0.0396 S1,2 = 0.0792
i 1 j 1
S1,3 = 0.0792 S1, 4 = 0.0396
3 32  3 2 2 
 2  1   1  2 S2, 1 = 0.0396 S2,2 = 0.0891 S2,3 = 0.594 S2, 4 = 0.0396
h 1, 3         1   

The surface point is
 3  2   3  3
n 1 m 1
 1  1  1   2   3 3 
Q (u , w)    Bi , j S i , j (u , w )
B 1 , 3       1  3 
0  12 0 0    
 3  2 2
0
 3  2  3   i 1 j 1
h 1, 4  h1, 3  1 Q(0.5, 0.5) = [1.634 0.266 7.624]

B 1, 4  B1, 3  2 0 0

Rational B-splined surface of revolution Derivatives of a rational B-spline surface
The derivatives of a rational B-spline surface are obtained by formal

differentiation and the results are:
N  N u Du 
Qu   
D  N  D 
 
N  N w Dw 
Qw   
D  N  D 
 
N N uw N u D w N w D u D u D w D uw 
Q uw   
D N  N D  N D 2 D D  D 
 
2
N  N uu N D D D 
Q uu   2 u u  2 u 2  uu 
D  N N D D D 
2
N  N ww N D D D 
Q ww   2 w w  2 w2  ww 
D  N N D D D 
Where N and Dare the numerator and denominator, respectively, with

derivatives
n 1 m 1 n 1 m 1
N    hi , j Bi , j N i , k (u ) M j ,l ( w ) D    hi , j N i , k (u ) M j ,l ( w)
i 1 j 1 i 1 j 1
n 1 m 1 n 1 m 1
N u    hi , j Bi , j N 'i ,k (u ) M j ,l ( w ) Du    hi , j N 'i , k (u ) M j ,l ( w )
i 1 j 1 i 1 j 1
n 1 m 1 n 1 m 1
N w    hi , j Bi , j N i , k (u ) M ' j ,l ( w ) Dw   hi , j N i ,k (u ) M ' j ,l ( w)
i 1 j 1 i 1 j 1
n 1 m 1 n1 m1
N uw    hi , j Bi , j N 'i , k (u ) M ' j , l ( w ) Duw   hi , j N 'i ,k (u)M ' j ,l (w)
i 1 j 1
i 1 j 1
n 1 m 1 n 1 m 1
N uu    hi , j Bi , j N ' 'i , k (u ) M j ,l ( w) Duu    hi , j N ' 'i , k (u ) M j ,l ( w )
i 1 j 1 i 1 j 1
n 1 m 1 n 1 m 1
N ww    hi , j Bi , j N i , k (u ) M ' ' j ,l ( w ) Dww   hi , j N i ,k (u ) M ' ' j ,l ( w) A quadratic surface element within a more general rational B-spline surface. Airfoil leading edge. (a) Polygon net; (b) surface. Ship stern
i 1 j 1 i 1 j 1 (c) Polygon net; (d) surface. A cylinder as part of a more general surface. (e) Polygon net; (f) surface.
Sixteen point form

It may be difficult or impractical to provide tangents and twist vectors to Now expand the algebraic form of the patch p = UAWT to obtain
define cubic patch a33u3w3 + a32u3w2 + ….. + a00 = p(u, w)
48 degrees of freedom or algebraic coefficients need to be supplied we can generate 16 of these equations, one for each of the 16 points.
Let us use the u, w values. Thus,
a33 (0)3(0)3 + a32 (0)3(0)2 + ……..... + a00 = p(0, 0)
a33 (1/3)3(0)3 + a32 (1/3)3(0)2 + ….. + a00 = p(1/3, 0)
- -
- -
a33 (2/3)3(1/3)3 + a32 (2/3)3(1/3)2 + .. + a00 = p(2/3, 1/3)
- -
- -
a33 (1)3(1)3 + a32 (1)3(1)2 + ……….. + a00 = p(1, 1)
In matrix form, this set of equations becomes

Ea = p
a = E-1 p

References
Investigate the 16- point solution for the geometric form.

We can rewrite p = UMBMTWT as p = UNPNTWT
The B matrix is replaced by a Matrix P Zeid, Ibraheim, CAD/CAM: Theory and Practice, Revised
 p (0,0) p (0,1 / 3) p (0,2 / 3) p (0,1)  First Edition, Tata McGraw Hill, 2007.
 p (1 / 3,0) p (1 / 3,1 / 3) p (1 / 3,2 / 3) p (1 / 3,1) 
P
 p ( 2 / 3),0 p (2 / 3,1 / 3) p (2 / 3,2 / 3) p (2 / 3,1) Rogers, D.F and Adams, J.A., Mathematical Elements for
 
 p (1,0) p (1,1 / 3) p (1,2 / 3) p (1,1)  Computer Graphics, Tata McGraw Hill, 2002.
By doing the indicated algebra, we find N to be
Mortenson, Michael E., Geometric Modeling, Third Edition,
  9 / 2 27 / 2  27 / 2 9 / 2 
 9  45 / 2 18  9 / 2  Industrial Press Inc., 2006.
N 
  11 / 2 9 9/ 2 1 
 
 1 0 0 0 
Same as found for B-spline curves
9-Nov-17 Dr. P. K. Jain (IIITDMJ) 131

PDPM IIITDM Jabalpur November 9, 2017: Surfaces

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PDPM IIITDM Jabalpur November 9, 2017: Surfaces

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PDPM IIITDM Jabalpur November 9, 2017

Computer Aided Geometric Design Surface of revolution

Instructor: Dr. Prashant K. Jain

Conical Surface of revolution Surface of revolution

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 5 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 6

Q( , )  x( ) y( ) cos y( ) sin  0   

Dr. Prashant K. Jain 1

Q ( ,  )  a cos  b sin  cos  b sin  sin   0  

Hyperboloid Surface of Revolution

Q ( ,  )  a sec  b tan  cos  b tan  sin   0     max

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 11 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 12

1 0 0 0 The surface normal is given by the cross product of the parametric

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 13 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 14

Dr. Prashant K. Jain 2

Finding point on surface Finding point on surface

Sweep Surface Sweep Surface

Q ( s )  P [T ( s )] s1  s  s 2 If the sweep transformation contains only translations and/ or local or overall

Here the sweep transformation matrix is a translation followed by a rotation

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 19 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 20

Dr. Prashant K. Jain 3

Sweep Surface Sweep Surface

Sweep Surface Piecewise surface representation

At s=0.5 the rotation angle is

Piecewise surface representation Piecewise surface representation

Defines the intersection

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 33 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 34

Dr. Prashant K. Jain 4

Spherical Surface Patch Piecewise surface representation

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 35 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 36

Piecewise surface representation Piecewise surface representation

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 37 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 38

Mapping Parametric Surfaces Mapping Parametric Surfaces

Map the surface described by

y=y(u, w) In parametric space into object space.

z=z(u, w) since z=constant=0, the surface in object space is also two-dimensional

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 39 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 40

Dr. Prashant K. Jain 5

Mapping Parametric Surfaces Mapping Parametric Surfaces

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 41 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 42

Mapping Parametric Surfaces Bilinear surface

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 43 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 44

Bilinear surface Bilinear surface

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 46 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 47

Dr. Prashant K. Jain 6

Ruled and Developable Surfaces Ruled and Developable Surfaces

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 48 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 49

Ruled and Developable Surfaces Ruled and Developable Surfaces

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 50 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 51

Ruled and Developable Surfaces Ruled and Developable Surfaces

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 52 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 53

Dr. Prashant K. Jain 7

Developable Surfaces Developable Surfaces

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 54 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 55

Effect of Gaussian curvature Qww   au cos w  bu sin w 0

Linear Coons Surface

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 58 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 59

Dr. Prashant K. Jain 8

Linear Coons Surface Linear Coons Surface

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 60 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 61

Coons Bicubic Surface Coons Bicubic Surface

9-Nov-17 Dr. P. K. Jain (IIITDMJ) 62 9-Nov-17 Dr. P. K. Jain (IIITDMJ) 63

Coons Bicubic Surface Coons Bicubic Surface

Dr. Prashant K. Jain 9