Piecewise Curves

Piecewise Bezier Curve

Continuity
One of the fundamental concepts Commonly used cases: 0, 1, 2, etc.
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Positional Continuity
b(u) a(1)=b(0)

a(u)

u varies from 0 to 1

Derivative Continuity

a(u)

a(1)=b(0) a(1)=b(0)

b(u)

u varies from 0 to 1

General Continuity
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continuity: derivatives (up to n-th) are the same a end points

n

where = 0 The prior de nition is for parametric continuity Parametric continuity depends on parameterization! Parameterization is not unique Di erent parametric representations may express the same geometry Re-parameterization can be easily implemented Another type of continuity: geometric continuity,
i ::: n

a(i)(1) = b(i)(0)

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Geometric Continuity

Depend on the curve geometry DO NOT depend on the underlying parameterization 0: the same joint 1: Two curve tangents at the joint align, but may n have the same magnitude 1: it is 1 after the reparameterization Which condition is stronger??? Examples
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Geometric Continuity
zeroorder Gcontinuity

firstorder Gcontinuity

Piecewise Hermite Curves

How to build an interactive system to satisfy various constraints 0 continuity
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a(1) = b(0)
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continuity
a(1) = b(0) a0(1) = b0(0)

continuity
a(1) = b(0) a0(1) = b0(0)

Piecewise Hermite Curves

continuity conditions a(0) a(1) a(0) a(1) b(0) b(0) b(1) b(1)

Piecewise Hermite Curves

piecewise hermite curves

Piecewise Bezier Curves

p p
1 2

p p q
0 3

q q q
2 1

piecewise Bezier curves

Piecewise Bezier Curves

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continuity
p3 = q0

continuity
p3 = q0 p3 ; p2 = q1 ; q0

continuity
p3 = q0 p3 ; p2 = (q1 ; q0)

continuity
p3 = q0 p3 ; p2 = q1 ; q0 p3 ; 2p2 + p1 = q2 ; 2q1 + q0

Geometric interpretation 2 continuity

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Piecewise C 2 Bezier Curves

piecewise C2 continuous Bezier curves

Continuity Summary
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: straightforward, but not enough 3: too constrained Piecewise curves with hermite and Bezier representations satisfying various continuity condition Interactive system for 2 interpolating splines using piecewise Bezier curves Advantages and disadvantages
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C 2 Interpolating Splines
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Natural Splines

Interpolate all control points Equivalent to a thin strip of metal in a physical sense Forced to pass through a set of desired points No local control (global control) + 1 control points pieces 2 extra points 2( ; 1) conditions We need two additional conditions { specify derivatives at two end points { specify the two internal control points that de ne rst curve span
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{ interactive system { natural end conditions: second-order derivatives at end points are de ned to be zero Advantages: interpolation, 2 Disadvantages: no local control (if one point is changed, the entire curve will move) How to overcome this drawback: B-Splines
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B-Splines Motivation
The goal is local control!!! B-splines provide local control Do not interpolate control points 2 continuity Alternatively Catmull-Rom Splines Keep interpolations Give up 2 continuity (only 1 is achieved) Will be discussed later!!!
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