ME F318 Computer Aided Design

Lecture 7: Surfaces

BITS Pilani Dr. Amit R. Singh

Pilani Campus

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 A Variety of Mathematical Surfaces

• Surfaces of revolution
• Quadric surfaces
• Sweep surfaces
• Bilinear surfaces
• Ruled surfaces
• Coon’s surfaces
• NURBS surfaces

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 A Variety of Mathematical Surfaces

• Surfaces of revolution
• Quadric surfaces
• Sweep surfaces
• Bilinear surfaces
• Ruled surfaces
• Coon’s surfaces
• NURBS surfaces

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 Parametric Mapping

Many surfaces can be represented as a mapping from a two

parameter space to three-dimensional Euclidean space.

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 Bilinear Surfaces

A bilinear surface is obtained by linear interpolation of four corner

points in the parameter space.

Q(u, v ) = P(0, 0) (1 − u) (1 − v ) + P(0, 1) (1 − u) v

+ P(1, 0) u (1 − v ) + P(1, 1) u v

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 Bilinear Surfaces

A bilinear surface is obtained by linear interpolation of four corner

points in the parameter space.

Q(u, v ) = P(0, 0) (1 − u) (1 − v ) + P(0, 1) (1 − u) v

+ P(1, 0) u (1 − v ) + P(1, 1) u v

In matrix form,
  
  P(0, 0) P(0, 1) 1 − v
Q(u, v ) = 1 − u u
P(1, 0) P(1, 1) v

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 Bilinear Surfaces

A bilinear surface is obtained by linear interpolation of four corner

points in the parameter space.

Q(u, v ) = P(0, 0) (1 − u) (1 − v ) + P(0, 1) (1 − u) v

+ P(1, 0) u (1 − v ) + P(1, 1) u v

In matrix form,
  
  P(0, 0) P(0, 1) 1 − v
Q(u, v ) = 1 − u u
P(1, 0) P(1, 1) v

What are the range of values u and v can take?

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 Ruled Surfaces

• Ruled surfaces are generated

by straight line moving
along a path with one
degree of freedom.
• Test of a ruled surface:
rotate a plane containing
the normal about the normal
and check if at any angle,
edge of the plane lies on the
Figure 6.27: Rogers, D. F. and Adams J. A.,
surface. Mathematical elements for Computer Graphics, 2nd Ed.,
McGraw-Hill, 1990.

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 Ruled Surfaces (contd.)

We can write an equation of a ruled surface as

Q(u, v ) = P(u, 0)(1 − v ) + P(u, 1)v

In matrix form,
 
  P(u, 0)
Q(u, v ) = 1 − v v
P(u, 1)

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 Ruled Surfaces (contd.)

We can write an equation of a ruled surface as

Q(u, v ) = P(u, 0)(1 − v ) + P(u, 1)v

In matrix form,
 
  P(u, 0)
Q(u, v ) = 1 − v v
P(u, 1)

Or alternatively,
 
  P(0, v )
Q(u, v ) = 1 − u u
P(1, v )

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 Ruled Surfaces (contd.)

We can write an equation of a ruled surface as

Q(u, v ) = P(u, 0)(1 − v ) + P(u, 1)v

In matrix form,
 
  P(u, 0)
Q(u, v ) = 1 − v v
P(u, 1)

Or alternatively,
 
  P(0, v )
Q(u, v ) = 1 − u u
P(1, v )

What is the difference in the two forms?

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 Developable Surfaces

• These are special ruled surfaces which can be “unfolded” unto

a plane without stretching or tearing.

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 Developable Surfaces

• These are special ruled surfaces which can be “unfolded” unto

a plane without stretching or tearing.
• Such surfaces are important for sheet-metal based products.

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 Developable Surfaces

• These are special ruled surfaces which can be “unfolded” unto

a plane without stretching or tearing.
• Such surfaces are important for sheet-metal based products.
• A surface (or its portion) is developable, if its “Gaussian”
curvature is identically zero.

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 Curvature of Surfaces

• Principal curvatures: κmin , κmin .

Figure 6.29: Rogers, D. F. and Adams J. A.,

Mathematical elements for Computer
Graphics, 2nd Ed., McGraw-Hill, 1990.

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 Curvature of Surfaces

• Principal curvatures: κmin , κmin .

• Principal curvature directions are
orthogonal.

Figure 6.29: Rogers, D. F. and Adams J. A.,

Mathematical elements for Computer
Graphics, 2nd Ed., McGraw-Hill, 1990.

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 Curvature of Surfaces

• Principal curvatures: κmin , κmin .

• Principal curvature directions are
orthogonal.
• Mean Curvature,
H = (κmin + κmax ) /2

Figure 6.29: Rogers, D. F. and Adams J. A.,

Mathematical elements for Computer
Graphics, 2nd Ed., McGraw-Hill, 1990.

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 Curvature of Surfaces

• Principal curvatures: κmin , κmin .

• Principal curvature directions are
orthogonal.
• Mean Curvature,
H = (κmin + κmax ) /2
• Gaussian Curvature,
K = κmin κmax Figure 6.29: Rogers, D. F. and Adams J. A.,
Mathematical elements for Computer
Graphics, 2nd Ed., McGraw-Hill, 1990.

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 Curvature of Surfaces (contd.)

Let subscripts denote partial differentiation with respect to a parameter.

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 Curvature of Surfaces (contd.)

Let subscripts denote partial differentiation with respect to a parameter.

For a biparametric surface,

A|Qv |2 − 2BQu · Qv + C |Qu |2

H=
2|Qu × Qv |3

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 Curvature of Surfaces (contd.)

Let subscripts denote partial differentiation with respect to a parameter.

For a biparametric surface,

A|Qv |2 − 2BQu · Qv + C |Qu |2

H=
2|Qu × Qv |3

AC − B 2
K=
|Qu × Qv |4

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 Curvature of Surfaces (contd.)

Let subscripts denote partial differentiation with respect to a parameter.

For a biparametric surface,

A|Qv |2 − 2BQu · Qv + C |Qu |2

H=
2|Qu × Qv |3

AC − B 2
K=
|Qu × Qv |4
 
A  
B = {Quu } {Quv } {Qvv } Qu × Qv
C
 

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 Coon’s Linear Surface

The key idea is to linearly blend four edge curves in the

parameteric space.

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 Coon’s Linear Surface

The key idea is to linearly blend four edge curves in the

parameteric space.
For a ruled surface, we blended two edge curves as follows:

Q(u, v ) = P(u, 0)(1 − v ) + P(u, 1)v

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 Coon’s Linear Surface

The key idea is to linearly blend four edge curves in the

parameteric space.
For a ruled surface, we blended two edge curves as follows:

Q(u, v ) = P(u, 0)(1 − v ) + P(u, 1)v

So, we may be tempted to write

Q(u, v ) = P(u, 0) (1 − v ) + P(u, 1) v

+ P(0, v ) (1 − u) + P(1, v ) u

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 Coon’s Linear Surface

The key idea is to linearly blend four edge curves in the

parameteric space.
For a ruled surface, we blended two edge curves as follows:

Q(u, v ) = P(u, 0)(1 − v ) + P(u, 1)v

So, we may be tempted to write

Q(u, v ) = P(u, 0) (1 − v ) + P(u, 1) v

+ P(0, v ) (1 − u) + P(1, v ) u

What is the problem in the above equation? Check the corners!

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 Coon’s Linear Surface (contd.)

The correct equation is

Q(u, v ) = P(u, 0)(1 − v ) + P(u, 1)v

+ P(0, v )(1 − u) + P(1, v )u
− P(0, 0)(1 − u)(1 − v ) − P(0, 1)(1 − u)v
− P(1, 0)u(1 − v ) − P(1, 1)uv

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 Coon’s Linear Surface (contd.)

The correct equation is

Q(u, v ) = P(u, 0)(1 − v ) + P(u, 1)v

+ P(0, v )(1 − u) + P(1, v )u
− P(0, 0)(1 − u)(1 − v ) − P(0, 1)(1 − u)v
− P(1, 0)u(1 − v ) − P(1, 1)uv

In matrix form,
  
  −P(0, 0) −P(0, 1) P(0, v ) 1 − v
Q(u, v ) = 1 − u u 1 −P(1, 0) −P(1, 1) P(1, v )  v 
P(u, 0) P(u, 1) 0 1

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 Coon’s Linear Surface (contd.)

The correct equation is

Q(u, v ) = P(u, 0)(1 − v ) + P(u, 1)v

+ P(0, v )(1 − u) + P(1, v )u
− P(0, 0)(1 − u)(1 − v ) − P(0, 1)(1 − u)v
− P(1, 0)u(1 − v ) − P(1, 1)uv

In matrix form,
  
  −P(0, 0) −P(0, 1) P(0, v ) 1 − v
Q(u, v ) = 1 − u u 1 −P(1, 0) −P(1, 1) P(1, v )  v 
P(u, 0) P(u, 1) 0 1

There is also a Coon’s bicubic surface. But we will not discuss it.

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 NURBS Surfaces

It is a blending of NURBS and control points in two parameters.

Pn Pm
i=0 j=0 hi,j Bi,j Ni,k (u)Mj,l (v )
Q(u, v ) = Pn Pm
i=0 j=0 hi,j Ni,k (u)Mj,l (v )

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 NURBS Surfaces

It is a blending of NURBS and control points in two parameters.

Pn Pm
i=0 j=0 hi,j Bi,j Ni,k (u)Mj,l (v )
Q(u, v ) = Pn Pm
i=0 j=0 hi,j Ni,k (u)Mj,l (v )

We can write it as
n X
X m
Q(u, v ) = Bi,j Si,j (u, v )
i=0 j=0

where
h N (u)Mj,l (v )
Si,j (u, v ) = Pn Pi,jm i,k
p=0 q=0 hp,q Np,k (u)Mq,l (v )

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 Properties of NURBS surfaces

1. Non-negativity:
Si,j (u, v ) ≥ 0 ∀u, v

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 Properties of NURBS surfaces

1. Non-negativity:
Si,j (u, v ) ≥ 0 ∀u, v
2. Partition of unity:
n X
X m
Si,j (u, v ) ≡ 1
i=0 j=0

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 Properties of NURBS surfaces

1. Non-negativity:
Si,j (u, v ) ≥ 0 ∀u, v
2. Partition of unity:
n X
X m
Si,j (u, v ) ≡ 1
i=0 j=0

3. Geometric invariance with respect to projective transformation

of the control points.

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 Properties of NURBS surfaces

1. Non-negativity:
Si,j (u, v ) ≥ 0 ∀u, v
2. Partition of unity:
n X
X m
Si,j (u, v ) ≡ 1
i=0 j=0

3. Geometric invariance with respect to projective transformation

of the control points.
4. The surface lies within the convex hull of the control polygon
net.

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 Properties of NURBS surfaces

1. Non-negativity:
Si,j (u, v ) ≥ 0 ∀u, v
2. Partition of unity:
n X
X m
Si,j (u, v ) ≡ 1
i=0 j=0

3. Geometric invariance with respect to projective transformation

of the control points.
4. The surface lies within the convex hull of the control polygon
net.
5. Variation diminishing property is not known.

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