Table of Contents

Cover image

Title page

The Morgan Kaufmann Series in Computer Graphics and Geometric Modeling

Copyright

Dedication

Preface

Chapter 1: P. Bézier: How a Simple System Was Born

Chapter 2: Introductory Material

2.1 Points and Vectors

2.2 Affine Maps

2.3 Constructing Affine Maps

2.4 Function Spaces

2.5 Problems

Chapter 3: Linear Interpolation

3.1 Linear Interpolation

3.2 Piecewise Linear Interpolation

3.3 Menelaos’ Theorem

3.4 Blossoms

3.5 Barycentric Coordinates in the Plane

3.6 Tessellations

3.7 Triangulations

3.8 Problems

Chapter 4: The de Casteljau Algorithm

4.1 Parabolas

4.2 The de Casteljau Algorithm

4.3 Some Properties of Bézier Curves

4.4 The Blossom

4.5 Implementation

4.6 Problems

Chapter 5: The Bernstein Form of a Bézier Curve

5.1 Bernstein Polynomials

5.2 Properties of Bézier Curves

5.3 The Derivatives of a Bézier Curve

5.4 Domain Changes and Subdivision

5.5 Composite Bézier Curves

5.6 Blossom and Polar

5.7 The Matrix Form of a Bézier Curve

5.8 Implementation

5.9 Problems

Chapter 6: Bézier Curve Topics

6.1 Degree Elevation

6.2 Repeated Degree Elevation

6.3 The Variation Diminishing Property

6.4 Degree Reduction

6.5 Nonparametric Curves

6.6 Cross Plots

6.7 Integrals

6.8 The Bézier Form of a Bézier Curve

6.9 The Weierstrass Approximation Theorem

6.10 Formulas for Bernstein Polynomials

6.11 Implementation

6.12 Problems

Chapter 7: Polynomial Curve Constructions

7.1 Aitken’s Algorithm

7.2 Lagrange Polynomials

7.3 The Vandermonde Approach

7.4 Limits of Lagrange Interpolation

7.5 Cubic Hermite Interpolation

7.6 Quintic Hermite Interpolation

7.7 Point-Normal Interpolation

7.8 Least Squares Approximation

7.9 Smoothing Equations

7.10 Designing with Bézier Curves

7.11 The Newton Form and Forward Differencing

7.12 Implementation

7.13 Problems

Chapter 8: B-Spline Curves

8.1 Motivation

8.2 B-Spline Segments

8.3 B-Spline Curves

8.4 Knot Insertion

8.5 Degree Elevation

8.6 Greville Abscissae

8.7 Smoothness

8.8 B-Splines

8.9 B-Spline Basics

8.10 Implementation

8.11 Problems

Chapter 9: Constructing Spline Curves

9.1 Greville Interpolation

9.2 Least Squares Approximation

9.3 Modifying B-Spline Curves

9.4 C2 Cubic Spline Interpolation

9.5 More End Conditions

9.6 Finding a Knot Sequence

9.7 The Minimum Property

9.8 C1 Piecewise Cubic Interpolation

9.9 Implementation

9.10 Problems

Chapter 10: W. Boehm: Differential Geometry I

10.1 Parametric Curves and Arc Length

10.2 The Frenet Frame

10.3 Moving the Frame

10.4 The Osculating Circle

10.5 Nonparametric Curves

10.6 Composite Curves

Chapter 11: Geometric Continuity

11.1 Motivation

11.2 The Direct Formulation

11.3 The γ, v, and β Formulations

11.4 G2 Cubic Splines

11.5 Interpolating G2 Cubic Splines

11.6 Higher-Order Geometric Continuity

11.7 Implementation

11.8 Problems

Chapter 12: Conic Sections

12.1 Projective Maps of the Real Line

12.2 Conics as Rational Quadratics

12.3 A de Casteljau Algorithm

12.4 Derivatives

12.5 The Implicit Form

12.6 Two Classic Problems

12.7 Classification

12.8 Control Vectors

12.9 Implementation

12.10 Problems

Chapter 13: Rational Bézier and B-Spline Curves

13.1 Rational Bézier Curves

13.2 The de Casteljau Algorithm

13.3 Derivatives

13.4 Osculatory Interpolation

13.5 Reparametrization and Degree Elevation

13.6 Control Vectors

13.7 Rational Cubic B-Spline Curves

13.8 Interpolation with Rational Cubics

13.9 Rational B-Splines of Arbitrary Degree

13.10 Implementation

13.11 Problems

Chapter 14: Tensor Product Patches

14.1 Bilinear Interpolation

14.2 The Direct de Casteljau Algorithm

14.3 The Tensor Product Approach

14.4 Properties

14.5 Degree Elevation

14.6 Derivatives

14.7 Blossoms

14.8 Curves on a Surface

14.9 Normal Vectors

14.10 Twists

14.11 The Matrix Form of a Bézier Patch

14.12 Nonparametric Patches

14.13 Problems

Chapter 15: Constructing Polynomial Patches

15.1 Ruled Surfaces

15.2 Coons Patches

15.3 Translational Surfaces

15.4 Tensor Product Interpolation

15.5 Bicubic Hermite Patches

15.6 Least Squares

15.7 Finding Parameter Values

15.8 Shape Equations

15.9 A Problem with Unstructured Data

15.10 Implementation

15.11 Problems

Chapter 16: Composite Surfaces

16.1 Smoothness and Subdivision

16.2 Tensor Product B-Spline Surfaces

16.3 Twist Estimation

16.4 Bicubic Spline Interpolation

16.5 Finding Knot Sequences

16.6 Rational Bézier and B-Spline Surfaces

16.7 Surfaces of Revolution

16.8 Volume Deformations

16.9 CONS and Trimmed Surfaces

16.10 Implementation

16.11 Problems

Chapter 17: Bézier Triangles

17.1 The de Casteljau Algorithm

17.2 Triangular Blossoms

17.3 Bernstein Polynomials

17.4 Derivatives

17.5 Subdivision

17.6 Differentiability

17.7 Degree Elevation

17.8 Nonparametric Patches

17.9 The Multivariate Case

17.10 S-Patches

17.11 Implementation

17.12 Problems

Chapter 18: Practical Aspects of Bézier Triangles

18.1 Rational Bézier Triangles

18.2 Quadrics

18.3 Interpolation

18.4 Cubic and Quintic Interpolants

18.5 The Clough–Tocher Interpolant

18.6 The Powell–Sabin Interpolant

18.7 Least Squares

18.8 Problems

Chapter 19: W. Boehm: Differential Geometry II

19.1 Parametric Surfaces and Arc Element

19.2 The Local Frame

19.3 The Curvature of a Surface Curve

19.4 Meusnier’s Theorem

19.5 Lines of Curvature

19.6 Gaussian and Mean Curvature

19.7 Euler’s Theorem

19.8 Dupin’s Indicatrix

19.9 Asymptotic Lines and Conjugate Directions

19.10 Ruled Surfaces and Developables

19.11 Nonparametric Surfaces

19.12 Composite Surfaces

Chapter 20: Geometric Continuity for Surfaces

20.1 Introduction

20.2 Triangle-Triangle

20.3 Rectangle-Rectangle

20.4 Rectangle-Triangle

20.5 “Filling in” Rectangular Patches

20.6 “Filling in” Triangular Patches

20.7 Theoretical Aspects

20.8 Problems

Chapter 21: Surfaces with Arbitrary Topology

21.1 Recursive Subdivision Curves

21.2 Doo–Sabin Surfaces

21.3 Catmull–Clark Subdivision

21.4 Midpoint Subdivision

21.5 Loop Subdivision

21.6 Subdivision

21.7 Interpolating Subdivision Surfaces

21.8 Surface Splines

21.9 Triangular Meshes

21.10 Decimation

21.11 Problems

Chapter 22: Coons Patches

22.1 Coons Patches: Bilinearly Blended

22.2 Coons Patches: Partially Bicubically Blended

22.3 Coons Patches: Bicubically Blended

22.4 Piecewise Coons Surfaces

22.5 Two Properties

22.6 Compatibility

22.7 Gordon Surfaces

22.8 Boolean Sums

22.9 Triangular Coons Patches

22.10 Problems

Chapter 23: Shape

23.1 Use of Curvature Plots

23.2 Curve and Surface Smoothing

23.3 Surface Interrogation

23.4 Implementation

23.5 Problems

Chapter 24: Evaluation of Some Methods

24.1 Bézier Curves or B-Spline Curves?

24.2 Spline Curves or B-Spline Curves?

24.3 The Monomial or the Bézier Form?

24.4 The B-Spline or the Hermite Form?

24.5 Triangular or Rectangular Patches?

Quick Reference of Curve and Surface Terms

List of Programs

Notation

References

Index

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