This document discusses B-spline curves and their advantages over Bezier curves for computer aided design and manufacturing. B-spline curves allow the degree of the curve to be independent of the number of control points and allow for local control of the curve shape by modifying individual control points. The key aspects of B-splines covered include using a knot vector to subdivide the curve domain, defining B-spline basis functions recursively using a Cox-de Boor formula, and important properties like the basis functions spanning the interval between knots and forming a partition of unity over the domain.
This document discusses B-spline curves and their advantages over Bezier curves for computer aided design and manufacturing. B-spline curves allow the degree of the curve to be independent of the number of control points and allow for local control of the curve shape by modifying individual control points. The key aspects of B-splines covered include using a knot vector to subdivide the curve domain, defining B-spline basis functions recursively using a Cox-de Boor formula, and important properties like the basis functions spanning the interval between knots and forming a partition of unity over the domain.
This document discusses B-spline curves and their advantages over Bezier curves for computer aided design and manufacturing. B-spline curves allow the degree of the curve to be independent of the number of control points and allow for local control of the curve shape by modifying individual control points. The key aspects of B-splines covered include using a knot vector to subdivide the curve domain, defining B-spline basis functions recursively using a Cox-de Boor formula, and important properties like the basis functions spanning the interval between knots and forming a partition of unity over the domain.
This document discusses B-spline curves and their advantages over Bezier curves for computer aided design and manufacturing. B-spline curves allow the degree of the curve to be independent of the number of control points and allow for local control of the curve shape by modifying individual control points. The key aspects of B-splines covered include using a knot vector to subdivide the curve domain, defining B-spline basis functions recursively using a Cox-de Boor formula, and important properties like the basis functions spanning the interval between knots and forming a partition of unity over the domain.
Instructor Dr. Deepak Kumar Room No: 116, Department of Mechanical Engineering Email: deepakkumar@mmumullana.org M#8059931047
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Computer Aided Design and Manufacturing B-Spline Basis: Motivation Consider designing the profile of a vase. The left figure below is a Bzier curve of degree 11; but, it is difficult to bend the "neck" toward the line segment P4P5. The middle figure below uses this idea. It has three Bzier curve segments of degree 3 with joining points marked with yellow rectangles. The right figure below is a B-spline curve of degree 3 defined by 8 control points .
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Computer Aided Design and Manufacturing B-Spline Basis: Motivation Those little dots subdivide the B-spline curve into curve segments. One can move control points for modifying the shape of the curve just like what we do to Bzier curves. We can also modify the subdivision of the curve. Therefore, B-spline curves have higher degree of freedom for curve design.
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Computer Aided Design and Manufacturing B-Spline Basis: Motivation Subdividing the curve directly is difficult to do. Instead, we subdivide the domain of the curve. The domain of a curve is [0,1], this closed interval is subdivided by points called knots. These knots be 0 <= u0 <= u1 <= ... <= um <= 1. Modifying the subdivision of [0,1] changes the shape of the curve.
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Computer Aided Design and Manufacturing B-Spline Basis: Motivation In summary: To design a B-spline curve, we need a set of control points, a set of knots and a set of coefficients, one for each control point, so that all curve segments are joined together satisfying certain continuity condition.
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Computer Aided Design and Manufacturing B-Spline Basis: Motivation
The computation of the coefficients is perhaps the most complex
step because they must ensure certain continuity conditions.
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Computer Aided Design and Manufacturing
B-Spline Curves
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Computer Aided Design and Manufacturing B-Spline Curves (Two Advantages) 1. The degree of a B-spline polynmial can be set independently of the number of control points.
2. B-splines allow local control over the
shape of a spline curve (or surface)
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Computer Aided Design and Manufacturing B-Spline Curves (Two Advantages) A B-spline curve that is defined by 6 control point, and shows the effect of varying the degree of the polynomials (2,3, and 4) Q3 is defined by P0,P1,P2,P3 Q4 is defined by P1,P2,P3,P4 Q5 is defined by P2,P3,P4,P5
Each curve segment
shares control points.
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Computer Aided Design and Manufacturing B-Spline Curves (Two Advantages) The effect of changing the position of control point P4 (locality property).
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Computer Aided Design and Manufacturing B-Spline Curves
Bzier Curve B-Spline Curve
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Computer Aided Design and Manufacturing
The B-Spline Two Major Limitations of the Bezier Curves 1. Dependence on the number of defining polygon vertices Hence the degree of the basis function is fixed by this To increase or decrease the order we need to increase or decrease the no. of polygon vertices 2. No local control only global control
P (u ) =(1 u )3 P0 + 3u (1 u ) 2 P1 + 3u 2 (1 u ) P2 + u 3 P3
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Computer Aided Design and Manufacturing
B-Spline How it is like the Bezier Approximates control points Possesses Convex Hull Property How it differs Degree of polynomial is for the most part independent of the control points Local control over spline shape Local control achieved by defining blending functions over subintervals of the total range of t Stronger Convex Hull Property More complex than Bezier Generally non-global
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Computer Aided Design and Manufacturing B-Spline Basis Functions (Knots, Knot Vector) Let U be a set of m + 1 non-decreasing numbers, u0 <= u2 <= u3 <= ... <= um. The ui's are called knots, The set U is the knot vector.
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Computer Aided Design and Manufacturing B-Spline Basis Functions (Knots, Knot Vector) U = {u , u , u ,, u 0 1 2 m } The half-open interval [ui, ui+1) is the i-th knot span. Some ui's may be equal, some knot spans may not exist.
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Computer Aided Design and Manufacturing B-Spline Basis Functions (Knots) U = {u , u , u ,, u 0 1 2 m } If a knot ui appears k times (i.e., ui = ui+1 = ... = ui+k-1), where k > 1, ui is a multiple knot of multiplicity k, written as ui(k). If ui appears only once, it is a simple knot. If the knots are equally spaced (i.e., ui+1 - ui is a constant for 0 <= i <= m - 1), the knot vector or the knot sequence is said uniform; otherwise, it is non-uniform.
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Computer Aided Design and Manufacturing B-Spline Basis Functions
All B-spline basis functions are supposed
to have their domain on [u0, um].
We use u0 = 0 and um = 1 frequently so that
the domain is the closed interval [0,1].
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Computer Aided Design and Manufacturing B-Spline Basis Functions To define B-spline basis functions, we need one more parameter. The degree of these basis functions, k. The i-th B- spline basis function of degree k, written as Ni,k(u), is defined recursively as follows: 1 if ui u < ui+1 N i ,0 (0) = 0 otherwise u ui ui+k +1 u N i ,k (u ) N i ,k 1 (u ) + N i+1,k 1 (u ) ui+k ui ui+k +1 ui+1 Maharishi Markandeshwar University Computer Aided Design and Manufacturing B-Spline Basis Functions 1 if ui u < ui+1 N i ,0 (0) = 0 otherwise u ui u u =N i ,k (u ) N i ,k 1 (u ) + i+k +1 N i+1,k 1 (u ) ui+k ui ui+k +1 ui+1 The above is usually referred to as the Cox-de Boor recursion formula. If the degree is zero (i.e., k = 0), these basis functions are all step functions . basis function Ni,0(u) is 1 if u is in the i-th knot span [ui, ui+1).
We have four knots u0 = 0, u1 = 1,
u2 = 2 and u3 = 3, knot spans 0, 1 and 2 are [0,1), [1,2), [2,3) and the basis functions of degree 0 are N0,0(u) = 1 on [0,1) and 0 elsewhere, N1,0(u) = 1 on [1,2) and 0 elsewhere, and N2,0(u) = 1 on [2,3) and 0 elsewhere.
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Computer Aided Design and Manufacturing B-Spline Basis Functions To understand the way of computing Ni,k(u) for k greater than 0, we use the triangular computation scheme.
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Computer Aided Design and Manufacturing B-Spline Basis Functions To compute Ni,1(u), Ni,0(u) and Ni+1,0(u) are required. Therefore, we can compute N0,1(u), N1,1(u), N2,1(u), N3,1(u) and so on. All of these Ni,1(u)'s are written on the third column. Once all Ni,1(u)'s have been computed, we can compute Ni,2(u)'s and put them on the fourth column. This process continues until all required Ni,k(u)'s are computed.
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Computer Aided Design and Manufacturing
B-Spline Basis Functions
(Important Properties )
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Computer Aided Design and Manufacturing B-Spline Basis Functions (Important Properties ) 1 if ui u < ui +1 N i ,0 (0) = 0 otherwise u ui ui +k +1 u =N i ,k (u ) N i ,k 1 (u ) + N i +1,k 1 (u ) ui +k ui ui +k +1 ui +1 1. Ni,k(u) is a degree k polynomial in u.
2. Non-negativity -- For all i, k and u, Ni,k(u) is non-negative
3. Local Support -- Ni,k(u) is a non-zero polynomial on
[ui,ui+k+1)
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Computer Aided Design and Manufacturing B-Spline Basis Functions (Important Properties ) 4. On any span [ui, ui+1), at most k+1 degree k basis functions are non-zero, namely: Ni-k,k(u), Ni-k+1,k(u), Ni- k+2,k(u), ..., and Ni,k(u) .
5. The sum of all non-zero degree k basis functions on span
[ui, ui+1] is 1.
6. If the number of knots is m+1, the degree of the
basis functions is k, and the number of degree k basis functions is n+1, then m = n + k + 1
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Computer Aided Design and Manufacturing B-Spline Basis Functions (Important Properties ) 7. Basis function Ni,k(u) is a composite curve of degree k polynomials with joining points at knots in [ui, ui+k+1 )
8. At a knot of multiplicity k, basis function Ni,k(u) is Ck-k continuous.
Increasing multiplicity decreases the
level of continuity, and increasing degree increases continuity.
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Computer Aided Design and Manufacturing B-Spline Basis Functions (Computation Examples) Simple Knots Suppose the knot vector is U = { 0, 0.25, 0.5, 0.75, 1 }. Basis functions of degree 0: N0,0(u), N1,0(u), N2,0(u) and N3,0(u) defined on knot span [0,0.25,), [0.25,0.5), [0.5,0.75) and [0.75,1), respectively.
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Computer Aided Design and Manufacturing B-Spline Basis Functions (Computation Examples) All Ni,1(u)'s (U = { 0, 0.25, 0.5, 0.75, 1 }):
4u for 0 u < 0.25
N (u ) = 2(1 2u ) for 0.25 u < 0.5 0 ,1
4u 1 for 0.25 u < 0.5
N1,1 (u ) = 3 u for 0.5 u < 0.75 2(2u 1) for 0.5 u < 0.75 N 2,1 (u ) = 4(1 u ) for 0.75 u < 1 Since the internal knots 0.25, 0.5 and 0.75 are all simple (i.e., k = 1) and k = 1, there are k k + 1 = 1 non-zero basis function and three knots. Moreover, N (u), N (u) and N (u) are C0 continuous at knots 0,1 1,1 2,1 0.25, 0.5 and 0.75, respectively.
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Computer Aided Design and Manufacturing B-Spline Basis Functions (Computation Examples) From Ni,1(u)'s, one can compute the basis functions of degree 2. Since m = 4, k = 2, and m = n + k + 1, we have n = 1 and there are only two basis functions of degree 2: N0,2(u) and N1,2(u). (U = { 0, 0.25, 8u 2 0.5, 0.75, 1 }):for 0 u < 0.25
N 0, 2 (u ) = 1.5 + 12u 16u 2 for 0.25 u < 0.5 4.5 12u + 8u 2 for 0.5 u < 0.75
0.5 4u + 8u 2 for 0.25 u < 0.5
N1, 2 (u ) = 1.5 + 8u 8u 2 for 0.5 u < 0.75 8(1 u ) 2 for 0.75 u < 1
Each basis function is a composite curve of three degree 2 curve segments. composite curve is of C1 continuity Maharishi Markandeshwar University Computer Aided Design and Manufacturing B-Spline Basis Functions (Computation Examples) Knots with Positive Multiplicity : Suppose the knot vector is U = { 0, 0, 0, 0.3, 0.5, 0.5, 0.6, 1, 1, 1} Since m = 9 and k = 0 (degree 0 basis functions), we have n = m - k - 1 = 8. there are only four non-zero basis functions of degree 0: N2,0(u), N3,0(u), N5,0(u) and N6,0(u).
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Computer Aided Design and Manufacturing
B-Spline Curves
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Computer Aided Design and Manufacturing B-Spline Curves (Definition) Given n + 1 control points P0, P1, ..., Pn and a knot vector U = { u0, u1, ..., um }, the B- spline curve of degree k defined by these control points and knot vector U is n P(u ) = N i =0 i ,k (u )pi , u0 u um k = m n 1
The point on the curve that corresponds to a knot ui, P(ui), is referred to as a knot point. The knot points divide a B-spline curve into curve segments, each of which is defined on a knot span.
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Computer Aided Design and Manufacturing B-Spline Curves (Definition) n P(u ) = N i =0 i ,k (u )pi , u0 u um k = m n 1
The degree of a B-spline basis function is an input.
To change the shape of a B-spline curve, one can modify one or more of these control parameters: 1. The positions of control points 2. The positions of knots 3. The degree of the curve
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Computer Aided Design and Manufacturing
B-Spline Curves Important Properties
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Computer Aided Design and Manufacturing B-Spline Curves Important Properties 1. B-spline curve P(u) is a piecewise curve with each component a curve of degree k.
Clamped B-Spline Curve Bzier Curve (degree 10!)
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Computer Aided Design and Manufacturing B-Spline Curves Important Properties 2. Equality m = n + k + 1 must be satisfied.
3. Clamped B-spline curve P(u) passes through the
two end control points P0 and Pn.
4. Strong Convex Hull Property: A B-spline curve is
contained in the convex hull of its control poly- line.
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Computer Aided Design and Manufacturing B-Spline Curves Important Properties 5. Local Modification Scheme: changing the position of control point Pi only affects the curve P(u) on interval [ui, ui+k+1).
The right figure shows the result of moving P2 to the lower right corner. Only the first, second and third curve segments change their shapes and all remaining curve segments stay in their original place without any change.
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Computer Aided Design and Manufacturing
B-Spline Curves Important Properties
A B-spline curve of degree 4 defined by 13 control points and 18 knots . Move P6. The coefficient of P6 is N6,4(u), which is non-zero on [u6, u11). Thus, moving P6 affects curve segments 3, 4, 5, 6 and 7. Curve segments 1, 2, 8 and 9 are not affected.
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Computer Aided Design and Manufacturing
CURVE MANIPULATIONS
The cases that require manipulation of
curves include:
Displaying Evaluating Points on Curves Blending Segmentation Trimming Intersection Transformation
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Computer Aided Design and Manufacturing
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Remind: Convex A region is convex if the line segment joining any two points in the region is also within the region.
