4 CurvesPartII PDF

B-Spline curves
Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 1

B-Spline curves
• Introduction
• Shape functions
• Knot vector
• Cox de Boor’s algorithm
• De Casteljau analogy
• De Boor’s algorithm
• Refinement
• Properties

B-Splines: Introduction
Desired features:
• Independent polynomial degree 𝑝 From cubic splines:
• Local influence of control points • Piecewise defined polynomials
• Higher continuity between sub curves • sub-curves are connected
• No oscillations From Bézier curves:

• parametric curve description • Approximation instead Interpolation
• Parametric shape functions
 B-Splines

B-Splines: Introduction
Basic concept:
• Parametric curve with shape functions (similar to Lagrange polynomials and Bézier curves)
𝑥(𝑡) 𝑃,
𝑪 𝑡 = 𝑦(𝑡) = 𝑁 , (𝑡) ⋅ 𝑷 = 𝑁, 𝑡 ⋅ 𝑃,
𝑧(𝑡) 𝑃,
• 𝑘 - derivative of curve with respect to 𝑡:
𝛿 𝑪 𝑡 𝛿 𝑁 , (𝑡)
𝑪( )
𝑡 = = ⋅𝑷
𝛿𝑡 𝛿𝑡

B-Spline curves
• Introduction
• Shape functions
• Knot vector
• Refinement
• Properties

B-Splines: Shape functions Remember:
𝑥(𝑡) 𝑃,
𝑪 𝑡 = 𝑦(𝑡) = 𝑁 , (𝑡) ⋅ 𝑷 = 𝑁, 𝑡 ⋅ 𝑃 ,
𝑧(𝑡) 𝑃,
Shape functions:
• Piecewise polynomials  Subdivide parameter space
𝑡
𝑡 𝑡 … 𝑡 … 𝑡
• Values 𝑡 are called knots and are stored in the knot vector 𝑈 = [𝑡 , 𝑡 , … 𝑡 ]
• The range between 𝑡 and 𝑡 is called knot span 𝑖
• Polynomials are defined on knot spans [𝑡 , 𝑡 [
• Polynomial degree 𝑝 is independent of the number of control points 𝑛

B-Splines: Shape functions
Example setup:
1 2 4 3 5
𝑷 =
0.5 2 2 1 0
𝑃 𝑃
𝑛=5
𝑃
Curve approximation:
𝑃
𝑪 𝑡 = 𝑁 , (𝑡) ⋅ 𝑷 𝑃

Example setup:
𝑝=0

Example setup:
𝑝=1

Example setup:
𝑝=2

𝑥(𝑡) 𝑃,
𝑪 𝑡 = 𝑦(𝑡) = 𝑁 , (𝑡) ⋅ 𝑷 = 𝑁, 𝑡 ⋅ 𝑃 ,
𝑧(𝑡) 𝑃,
Piecewise defined polynomials
• 𝑁 , consists of 𝑝 + 1 polynomials 𝑁(𝑡)
• 𝑁 , is non-zero from 𝑡 to 𝑡 𝑡 𝑡 𝑡 𝑡
Example:
𝑈 = [0 1 2 3 4 5 … ]
𝑝=2
𝑁 ,

𝑥(𝑡) 𝑃,
𝑪 𝑡 = 𝑦(𝑡) = 𝑁 , (𝑡) ⋅ 𝑷 = 𝑁, 𝑡 ⋅ 𝑃 ,
𝑧(𝑡) 𝑃,
𝑁(𝑡)
𝑡 𝑡
𝑁 ,

𝑥(𝑡) 𝑃,
𝑪 𝑡 = 𝑦(𝑡) = 𝑁 , (𝑡) ⋅ 𝑷 = 𝑁, 𝑡 ⋅ 𝑃 ,
𝑧(𝑡) 𝑃,
• Overlap of shape functions 𝑁(𝑡)
• 𝐶 continuity in knot spans 𝑡 𝑡 𝑡 𝑡 𝑡 𝑡

Example:
𝑝=2
𝑛=5
𝑃 𝑃
• Knot vector
𝑚 =𝑛+𝑝+1=8
𝑃
𝑈 = [0 1 2 3 4 5 6 7]
𝑃
• Curve approximation: 𝑃
𝑪 𝑡 = 𝑁 , (𝑡) ⋅ 𝑷

𝑥(𝑡) 𝑃,
𝑪 𝑡 = 𝑦(𝑡) = 𝑁 , (𝑡) ⋅ 𝑷 = 𝑁, 𝑡 ⋅ 𝑃 ,
𝑧(𝑡) 𝑃,
Curve approximation:
𝑃 𝑃
𝑃
𝑃
𝑃
𝑈 = [0 1 2 3 4 5 6 7] Why is the origin interpolated?
𝑡 ∈ [0, 7] 𝑁, 0 = 0 → 𝑪 0 = 0
same holds for 𝑪 7

𝑥(𝑡) 𝑃,
𝑪 𝑡 = 𝑦(𝑡) = 𝑁 , (𝑡) ⋅ 𝑷 = 𝑁, 𝑡 ⋅ 𝑃 ,
𝑧(𝑡) 𝑃,
Idea:
• Shrink parameter domain
𝑃 𝑃
𝑃
𝑃
𝑃
𝑈 = [0 1 2 3 4 5 6 7]
Origin is still “half“ interpolated
𝑡 ∈ [1, 6]

Partition of unity:
• Definition
𝑁 , 𝑁 , 𝑁 ,
𝑁 , (𝑡) = 1 ∀𝑡
𝑁 ,
𝑁 ,
𝑡 𝑁 , (𝑡)
𝑡=0 0
𝑡=1 0.5
𝑡 = 2.5 0.1 + 0.1 + 0.8 = 1.0
𝑡=4 0.5 + 0.5 = 1.0 𝑡=1 𝑡=4

𝑡=0 𝑡 = 2.5

Partition of unity over the whole parameter domain
ℎ𝑒𝑟𝑒 𝑓𝑜𝑟 𝑝 = 2
𝑁 , (𝑡)

Idea:
• Shrink parameter domain to space of partition of unity
𝑃 𝑃
𝑃
𝑃
𝑃
𝑈 = [0 1 2 3 4 5 6 7]
𝑡 ∈ [2, 5]

Example setup: 𝑝=1
• Evaluate shape functions only in the parameter range, where partition of unity is fulfilled

Example setup: 𝑝 = 2
• Evaluate shape functions only in the parameter range, where partition of unity is fulfilled

B-Spline curves
• Introduction
• Shape functions
• Knot vector
• Refinement
• Properties

B-Splines: Knot vector
Properties:
𝑡
𝑡 𝑡 … 𝑡 … 𝑡
• Values 𝑡 are called knots and are stored in the knot vector 𝑈 = [𝑡 , 𝑡 , … 𝑡 ]
• The range between 𝑡 and 𝑡 is called knot span 𝑖
• Knots 𝑡 must be in non-descending order: 𝑡 ≤ 𝑡
• Number of knots 𝒎 = 𝒏 + 𝒑 + 𝟏

Knot multiplicity 𝑘:
• How often is one knot at the same position?
𝑈 = [0, 1, 1, 2, 2, 2]
𝑘=3
𝑘=2
𝑘=1

Knot multiplicity of outer knots (first and last)
𝑈 = [0 0 0 3 4 5 6 7]
𝑘 =𝑝+1=3
Point is interpolated
𝑪 0 = 𝑁, 0 ⋅𝑷 = 1⋅𝑷 +0⋅𝑷 +0⋅𝑷 +0⋅𝑷 +0⋅𝑷 = 𝑷

Open knot vector:
• Interpolates first and last control point
• Multiplicity 𝑘 = 𝑝 + 1 at beginning and ending of knot vector
Example:
𝑘 =𝑝+1 𝑘 =𝑝+1
𝑝=3
𝑈 = [0000 1 2 3 3 3 3]
𝑛=6 number control points
𝑈 = [ −1, −1, −1, −1, −0.5, 0. 9, 5,5,5,5]
→ 𝑚 = 𝑛 + 𝑝 + 1 = 6 + 3 + 1 = 10
⋮
infinite possibilities

Curve with open knot vector
𝑈 = [0 0 0 3 4 7 7 7]

Knot multiplicity of inner knots
𝑈 = [0 0 0 3 3 7 7 7] Point is interpolated
𝑪 0 = 𝑁, 0 ⋅𝑷 = 0⋅𝑷 +0⋅𝑷 +1⋅𝑷 +0⋅𝑷 +0⋅𝑷 = 𝑷

Multiplicity lowers the continuity:
• At knots:
• Within the knot spans:

𝐶
Example: 𝐶 Meaning
⋮ ⋮
𝑝=2
𝐶 2 times continuously derivable
𝑈 = [0 0 0 3 3 7 7 7] 𝐶 1 time continuously derivable
𝐶 interpolation of point: Kink
𝑘 =2
1 control line is ignored: Jump to
𝐶
𝐶 =𝐶 =𝐶 next control point
⋮ ⋮

Example for 𝐶 continunity
𝑈 = [0 0 0 3 3 3 7 7 7]
Jump
2 independent curves

Influence of knot positions
𝑈 = [0 0 0 1 2 777] 𝑈 = [0 0 0 5 6 777]

Influence of knot positions
𝑈 = [0 0 0 1 2 777] 𝑈 = [0 0 0 5 6 777]

B-Spline curves
• Introduction
• Shape functions
• Knot vector
• Refinement
• Properties

B-Splines: Cox de Boor’s algorithm
Recursive formulation of shape functions:
• for 𝑝 = 0:
1 𝑡 ∈ [𝑡 , 𝑡 ]
𝑁, 𝑡 =
0 𝑒𝑙𝑠𝑒
• for 𝑝 ≥ 1:
𝑡−𝑡 𝑡 −𝑡 0
𝑁, = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡 ≝0
𝑡 −𝑡 𝑡 −𝑡 0
parameter space where 𝑁 , ≠0 comes from multiplicity k > 1

Derivatives of shape functions
• first derivative:
( ) 𝑁, 𝑡 𝑁 , 𝑡
𝑁, =𝑝⋅ −
𝑡 −𝑡 𝑡 −𝑡
• 𝑘 derivative:
( ) ( )
( )
𝑁, 𝑡 𝑁 , 𝑡
𝑁, =𝑝⋅ −

Shape functions for 𝑝 = 0:
1 𝑡 ∈ [𝑡 , 𝑡 ]
𝑁, 𝑡 =
𝑁 , 0 𝑒𝑙𝑠𝑒
𝑈 = [0 1 2 3 4 5 … ]
𝑁 ,
Important:
For a parameter 𝑡 in knot span 𝑖 only
shape function 𝑁 , is non zero!
𝑁 ,

Shape functions for 𝑝 = 1: 𝑡−𝑡 𝑡 −𝑡
𝑁, = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡
𝑈 = [0 1 2 3 4 5 … ]
𝑁 ,
𝑁 ,
𝑁 ,
𝑡−𝑡 𝑡 −𝑡 𝑡−0 2 −𝑡 𝑡 𝑡 ∈ [0, 1[

𝑁 , = ⋅𝑁 , + ⋅𝑁 , = ⋅𝑁 , + ⋅𝑁 , =
𝑡 −𝑡 𝑡 −𝑡 1−0 2−1 2−𝑡 𝑡 ∈ [1, 2[

Shape functions for 𝑝 = 1:
piecewise polynomial
 defined on 2 knot spans
𝑁 ,
𝑡 𝑡 ∈ [0, 1[
𝑁 , =
2−𝑡 𝑡 ∈ [1, 2[
𝑁 ,
𝑁 ,
𝑡−1 𝑡 ∈ [1, 2[
𝑁 , =
3−𝑡 𝑡 ∈ [2, 3[
𝑁 ,
𝑁 ,

Shape functions for 𝑝 = 2: 𝑡−𝑡 𝑡 −𝑡
𝑁, = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡
𝑈 = [0 1 2 3 4 5 … ]
𝑁 ,
𝑁 ,
𝑁 ,
0.5 𝑡 𝑡 ∈ [0, 1[
𝑡−𝑡 𝑡 −𝑡 𝑡−0 3 −𝑡
𝑁 , = ⋅𝑁 , + ⋅𝑁 , = ⋅𝑁 , + ⋅𝑁 , = −𝑡 + 3𝑡 − 1.5 𝑡 ∈ [1, 2[
𝑡 −𝑡 𝑡 −𝑡 2−0 3−1
0.5 𝑡 + 4.5 𝑡 ∈ [2, 3[

Computational scheme:
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 ,
𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
𝑁 …
,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
𝑁 ,
𝑁 , ⋮
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , ⋮
⋮ 𝑁 ,
…
⋮ ⋮ 𝑁 ,
𝑁 ,
𝑡 ∈ [𝑡 ,𝑡 [ 𝑁 ,

Derivation of necessary number of knots 𝑚
• 𝑛 shape functions
• from 𝑁 , to 𝑁 , : 𝑝 steps 𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 ,
𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁
• per step the number of shape functions ,
…
𝑁 ,
decreases by 1 𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 𝑁
, ,
𝑁 ,
𝑁 , ⋮
• At 𝑝 = 0: 𝑛 + 𝑝 shape functions needed 𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , ⋮
⋮ 𝑁 ,
…
• Shape function defined between 2 knots ⋮ ⋮ 𝑁 ,
(Off-by-one error) 𝑁 ,
𝑡 ∈ [𝑡 ,𝑡 [ 𝑁 ,
 Number of knots needed:

Cox de Boor‘s algorithm for zero knot spans:
𝑈 = [0 0 0 3 4 5 6 7] zero shape functions

𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 ,
𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
𝑁 , 𝑁 ,
𝑁 𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 ,
, 𝑁 ,
𝑁 , 𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 𝑁
𝑁 ,
,
,
𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
𝑁 , 𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 ,

Cox de Boor‘s algorithm for open knot vector:
𝑈 = [0 0 0 3 4 7 7 7] zero shape functions

𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 ,
𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
𝑁 , 𝑁 , 𝑁 ,
𝑁 , 𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
𝑁 ,
𝑁 𝑡 ∈ [𝑡 , 𝑡 [ 𝑁
𝑁 , , , 𝑁 ,
𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 ,

Example 1: 𝑡−𝑡 𝑡 −𝑡
𝑁, = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡
𝑈 = [0 0 0 1 1 1]
→𝑝=2 𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 ,
𝑁 ,
𝑚 =𝑛+𝑝+1 𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
→ 𝑛 =𝑚−𝑝 −1=3
𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 ,
 All shape functions base on 𝑁 ,

𝑁, = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡
• 𝑝 = 0: 𝑡 −𝑡 𝑡 −𝑡
𝑁 , 𝑡 = 𝑁 , 𝑡 = = 0 𝑡∈ℝ
𝑁 , 𝑡 = 1 𝑡 ∈ [0, 1[
𝑁 , 𝑡 = 𝑁 , 𝑡 = 0 𝑡∈ℝ
• 𝑝 = 1:
𝑁 , 𝑡 = 0 𝑡∈ℝ
1−𝑡
𝑁 , 𝑡 = ⋅𝑁 , = (1 − 𝑡) 𝑡 ∈ [0,1[
1−0
𝑡−0
𝑁 , 𝑡 = ⋅𝑁 , = 𝑡 𝑡 ∈ [0,1[
1−0
𝑁 , 𝑡 = 0 𝑡∈ℝ
𝑡−𝑡 𝑡 −𝑡
Example 1: 𝑁, = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡
• 𝑝 = 2:
1−𝑡
𝑁 , 𝑡 = ⋅𝑁 , = 1−𝑡 𝑡 ∈ [0, 1[
1−0
𝑡−0 1−𝑡
𝑁 , 𝑡 = ⋅𝑁 , + ⋅𝑁 , = 2⋅ 1−𝑡 ⋅𝑡 𝑡 ∈ [0, 1[
1−0 1−0
𝑡−0
𝑁 , 𝑡 = ⋅𝑁 , = 𝑡 𝑡 ∈ [0, 1[
1−0
𝑁 , 𝑁 ,
𝑁 ,

𝑝
Example 2:
𝑁 ,
𝑈 = [0 0 0 0 1 2 3 3 3 3] 𝑁 ,
𝑁 , 𝑁 ,
open knot vector → 𝑝 = 3 𝑁 , 𝑁 ,
𝑁 , 𝑁 ,
𝑚 =𝑛+𝑝+1 𝑁 , 𝑁 ,
𝑁 , 𝑁 ,
→ 𝑛 =𝑚−𝑝 −1=6 𝑁 , 𝑁 ,
𝑖 𝑁 , 𝑁 ,
𝑁 , 𝑁 ,
𝑁 , 𝑁 ,
𝑁 , 𝑁 ,
𝑁 , 𝑁 ,
𝑁 , 𝑁 ,
𝑁 , 𝑁 ,
𝑁 ,
𝑁 ,

Example 2:
• 𝑝 = 0:
𝑁 , 𝑡 = 𝑁 , 𝑡 = 𝑁 , 𝑡 = 0 𝑡∈ℝ
𝑁 , 𝑡 = 1 𝑡 ∈ [0, 1[
𝑁 , 𝑡 = 1 𝑡 ∈ [1, 2[
𝑁 , 𝑡 = 1 𝑡 ∈ [2, 3[
𝑁 , 𝑡 = 𝑁 , 𝑡 = 𝑁 , 𝑡 = 0 𝑡∈ℝ

• 𝑝 = 1: 𝑁 , (𝑡) = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡
𝑁 , 𝑡 =𝑁 , 𝑡 = 0 𝑡∈ℝ
1−𝑡
𝑁 , 𝑡 = ⋅𝑁 , = (1 − 𝑡) 𝑡 ∈ [0, 1[
1−0
𝑡−0 2−𝑡 𝑡 𝑡 ∈ [0, 1[
𝑁 , 𝑡 = ⋅𝑁 , + ⋅𝑁 , = 𝑡 ∈ [1, 2[
1−0 2−1 (2 − 𝑡)
𝑡−1 3−𝑡 (𝑡 − 1) 𝑡 ∈ [1, 2[

𝑁 𝑡 = ⋅𝑁 + ⋅𝑁 =
,
2−1 ,
3−2 , (3 − 𝑡) 𝑡 ∈ [2, 3[
𝑡−2
𝑁 , 𝑡 = ⋅𝑁 , = (𝑡 − 2) 𝑡 ∈ [2, 3[
3−2
𝑁 , 𝑡 =𝑁 , 𝑡 = 0 𝑡∈ℝ

• 𝑝 = 2: 𝑁 , (𝑡) = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡
𝑁 , 𝑡 = 0 𝑡∈ℝ
1−𝑡
𝑁 , 𝑡 = ⋅𝑁 , = 1−𝑡 𝑡 ∈ [0, 1[
1−0
𝑡−0 2−𝑡 −1.5𝑡 + 2𝑡 𝑡 ∈ [0, 1[
𝑁 , 𝑡 = ⋅𝑁 , + ⋅𝑁 , =
1−0 2−0 0.5𝑡 − 2𝑡 + 2 𝑡 ∈ [1, 2[
𝑡−0 3−𝑡
𝑁 , 𝑡 = ⋅𝑁 , + ⋅𝑁 , =
2−0 3−1
𝑡 𝑡 𝑡 ∈ [0,1[ 3 𝑡 𝑡−1 𝑡 ∈ [1,2[

= ⋅ + − ⋅
2 2−𝑡 𝑡 ∈ [1,2[ 2 2 3−𝑡 𝑡 ∈ [3,4[

• 𝑝 = 2: 𝑁 , (𝑡) = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡
0.5𝑡 𝑡 ∈ [0,1[
𝑡−0 3−𝑡
𝑁 , 𝑡 = ⋅𝑁 , + ⋅𝑁 , = 0.5𝑡 + 3𝑡 − 1.5 𝑡 ∈ [1,2[
2−0 3−1 𝑡 ∈ [2,3[
0.5𝑡 − 3𝑡 + 4.5
𝑡−1 3−𝑡 0.5𝑡 − 𝑡 + 0.5 𝑡 ∈ [1,2[

𝑁 , 𝑡 = ⋅𝑁 , + ⋅𝑁 , =
3−1 3−2 −1.5𝑡 + 7𝑡 − 7.5 𝑡 ∈ [2,3[
𝑡−2
𝑁 , 𝑡 = ⋅𝑁 , = 𝑡−2 𝑡 ∈ [2, 3[
3−2
𝑁 , 𝑡 = 0 𝑡∈ℝ

• 𝑝 = 3: 𝑁 , (𝑡) = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡
1−𝑡
𝑁 , 𝑡 = ⋅𝑁 , = −𝑡 + 3𝑡 − 3𝑡 + 1 𝑡 ∈ [0, 1[
1−0
𝑡−0 2−𝑡 𝑡 − 𝑡 + 3𝑡 𝑡 ∈ [0, 1[

𝑁 , 𝑡 = ⋅𝑁 , + ⋅𝑁 , =
1−0 2−0 1+ 𝑡− 𝑡−1 + 𝑡−1 𝑡 ∈ [1, 2[
− 𝑡 + 𝑡
𝑡 ∈ [0,1[
𝑡−0 3−𝑡
𝑁 , 𝑡 = ⋅𝑁 , + ⋅𝑁 , = + 𝑡− 𝑡−1 + 𝑡−1 𝑡 ∈ [1,2[
2−0 3−0
− 𝑡+ 𝑡−2 − 𝑡−2 𝑡 ∈ [2,3[

• 𝑝 = 3: 𝑁 , (𝑡) = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡
𝑡
𝑡 ∈ [0,1[
𝑡−0 3−𝑡
𝑁 , 𝑡 = ⋅𝑁 , + ⋅𝑁 , = − + 𝑡− 𝑡−1 − 𝑡−1 𝑡 ∈ [1,2[
3−0 3−1
− 𝑡+ 𝑡−2 − 𝑡−2 𝑡 ∈ [2,3[
𝑡−1 3−𝑡 (𝑡 − 1) 𝑡 ∈ [1, 2[

𝑁 𝑡 = ⋅𝑁 + ⋅𝑁 =
,
3−1 ,
3−2 ,
− − 𝑡+ 𝑡−2 − 𝑡−2 𝑡 ∈ [2, 3[
𝑡−2
𝑁 , 𝑡 = ⋅𝑁 , = 𝑡−2 𝑡 ∈ [2, 3[
3−2

Example 2:
• Shape functions:
𝑁(𝑡)
𝑁 , 𝑁 ,
𝑁 , 𝑁 , 𝑁 , 𝑁 ,

Summary:
• Given a knot vector 𝑈 = [𝑡 , 𝑡 , … 𝑡 ] shape functions of any degree can be computed using
Cox de Boor‘s formula:
𝑁 , (𝑡) = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡
• at any parameter 𝑡. Along with a chosen set of control points, the corresponding B-Spline
curve 𝑪(𝑡) can be computed:
𝑥(𝑡) 𝑃,
𝑪 𝑡 = 𝑦(𝑡) = 𝑁 , (𝑡) ⋅ 𝑷 = 𝑁, 𝑡 ⋅ 𝑃,
𝑧(𝑡) 𝑃,

B-Spline curves
• Introduction
• Shape functions
• Knot vector
• Refinement
• Properties

B-Splines: De Casteljau analogy
Motivation:
• Analogously to De Casteljau’s algorithm for Bézier curves (see CIE 1) also B-Splines
curves can be constructed geometrically
• In contrast to De Casteljau’s algorithm not the overall curve, but each knot span must be
considered separately
Remark:
• A Bézier curve is a special case of a B-Spline curve, in which no inner knots are given

Properties for Bézier curves:
• Fixed polynomial degree: 𝑝 = 𝑛 − 1
• Fixed knot vector: 𝑚 = 𝑛 + 𝑝 + 1 = 2 ⋅ 𝑝
 open knot vector without inner knots no inner knots
𝑈 é = [0 0 0 … 0 1 … 1 1 1]
Bernstein polynomials: 𝑝+1 𝑝+1

𝐵(𝑡)
Remark:
1 𝐵 , 𝐵 , Note that all functions
are global, hence all
control points 𝑷
𝐵 , 𝐵 𝐵 𝐵 , influence the entire
, ,
curve.
𝑡
0
Remember De Casteljau’s algorithm for Bézier curves

Remember De Casteljau’s algorithm for Bézier curves
𝑡 = 0.5
𝑛=6 →𝑝=5
Idea: Run De Casteljau‘s algorithm only on a subset of the control points

Geometric modelling of a B-Spline curve:
Example: 𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 ,
𝑝=2 𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
𝑈 = [0 1 2 3 4 5 6 … ] 𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
𝑷 = [𝑷 𝑷 𝑷 …]
𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
Non open knot vector 𝑁 ,
 starting at 𝑡 =𝑡 =2 𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 ,
⋮
⋮
…because from here on we have partition of unity… ⋮

Example:
• Curve on knot span 𝑡 ∈ [2, 3[
• Which shape functions affect the curve?
𝑁 , 𝑁 , 𝑁 , …
𝑁 , 𝑡 ≠0 𝑡 ∈ [2, 3[
𝑁 ,
𝑁 , 𝑡 ≠0 𝑡 ∈ [2, 3[
𝑁 , 𝑡 ≠0 𝑡 ∈ [2, 3[
𝑁, 𝑡 = 0 𝑡 ∈ [2, 3[ ∀ 𝑖 > 3
• Which points have influence on the curve?

 Those, which correspond to the non-zero shape functions in that interval, so here
𝑷 𝑷 𝑷

Example:
• Curve on first knot span 𝑡 ∈ [2, 3[
𝑪 𝑡 = 𝑁, ⋅𝑷 = 𝑁 , 𝑡 ⋅𝑷 + 𝑁 , 𝑡 ⋅𝑷 + 𝑁 , 𝑡 ⋅𝑷
𝑡−0 3−𝑡
= ⋅𝑁 , 𝑡 + ⋅𝑁 , 𝑡 ⋅𝑷 +
2−0 3−1
𝑡−1 4−𝑡
+ ⋅𝑁 , 𝑡 + ⋅𝑁 , 𝑡 ⋅𝑷 +
3−1 4−2
𝑡−2 5−𝑡
+ ⋅𝑁 , 𝑡 + ⋅𝑁 , 𝑡 ⋅𝑷
4−2 5−3
𝑁 , (𝑡) = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡

𝑡−0 3−𝑡
Example: = ⋅𝑁 , 𝑡 + ⋅𝑁 , 𝑡 ⋅𝑷 +
2 2
𝑡−1 4−𝑡
+ ⋅𝑁 , 𝑡 + ⋅𝑁 , 𝑡 ⋅𝑷 +
2 2
𝑡−2 5−𝑡
+ ⋅𝑁 , 𝑡 + ⋅𝑁 , 𝑡 ⋅𝑷
2 2
𝑡−0 3−𝑡
= ⋅ 𝑡−0 ⋅𝑁 , 𝑡 + 2−𝑡 ⋅𝑁 , 𝑡 + ⋅ 𝑡−1 ⋅𝑁 , 𝑡 + 3 − 𝑡 ⋅ 𝑁 , (𝑡) ⋅𝑷 +
2 2
𝑡−1 4−𝑡
+ ⋅ 𝑡−1 ⋅𝑁 , 𝑡 + 3−𝑡 ⋅𝑁 , 𝑡 + ⋅ 𝑡−2 ⋅𝑁 , 𝑡 + 4 − 𝑡 ⋅ 𝑁 , (𝑡) ⋅𝑷 +
2 2
𝑡−2 5−𝑡
+ ⋅ 𝑡−2 ⋅𝑁 , 𝑡 + 4−𝑡 ⋅𝑁 , 𝑡 + ⋅ 𝑡−3 ⋅𝑁 , 𝑡 + 5 − 𝑡 ⋅ 𝑁 , (𝑡) ⋅𝑷
2 2
𝑁 , (𝑡) = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡

Example:
• Which shape functions 𝑁 , are non-zero at first knot span 𝑡 ∈ [2,3[ ?
𝑁 , 𝑁 , 𝑁 , 𝑁 , …
𝑁 , 𝑡 ≠0 𝑡 ∈ [2 3[
𝑁, 𝑡 = 0 𝑡 ∈ [2 3 [ ∀ 𝑖 ≠ 3

Example:
𝑡−0 3−𝑡
= ⋅ 𝑡−0 ⋅𝑁 , 𝑡 + 2−𝑡 ⋅𝑁 , 𝑡 + ⋅ 𝑡−1 ⋅𝑁 , 𝑡 + 3 − 𝑡 ⋅ 𝑁 , (𝑡) ⋅𝑷 +
2 2
𝑡−1 4−𝑡
+ ⋅ 𝑡−1 ⋅𝑁 , 𝑡 + 3−𝑡 ⋅𝑁 , 𝑡 + ⋅ 𝑡−2 ⋅𝑁 , 𝑡 + 4 − 𝑡 ⋅ 𝑁 , (𝑡) ⋅𝑷 +
2 2
𝑡−2 5−𝑡
+ ⋅ 𝑡−2 ⋅𝑁 , 𝑡 + 4−𝑡 ⋅𝑁 , 𝑡 + ⋅ 𝑡−3 ⋅𝑁 , 𝑡 + 5 − 𝑡 ⋅ 𝑁 , (𝑡) ⋅𝑷
2 2
3−𝑡
= ⋅ 3 − 𝑡 ⋅ 𝑁 , (𝑡) ⋅ 𝑷 +
2
𝑡−1 4−𝑡
+ ⋅ 3−𝑡 ⋅𝑁 , 𝑡 + ⋅ 𝑡−2 ⋅𝑁 , 𝑡 ⋅𝑷 +
2 2
𝑡−2
+ ⋅ 𝑡−2 ⋅𝑁 , 𝑡 ⋅𝑷
2

Example:
• with:
𝑁, 𝑡 ⋅𝑷 = 𝑷 iff 𝑁 , (𝑡) ≠ 0
3−𝑡 𝑡−1 4−𝑡 𝑡−2

= ⋅ 3−𝑡 ⋅𝑷 + ⋅ 3−𝑡 ⋅𝑷 + ⋅ 𝑡−2 ⋅𝑷 + ⋅ 𝑡−2 ⋅𝑷 =
2 2 2 2
3−𝑡 𝑡−1 4−𝑡 𝑡−2

= 3−𝑡 ⋅ ⋅𝑷 + ⋅𝑷 + 𝑡−2 ⋅ ⋅𝑷 + ⋅𝑷
2 2 2 2
interpolation interpolation
= 3−𝑡 ⋅ 𝑷 , + 𝑡−2 ⋅ 𝑷 ,
𝑪 𝑡 =𝑷 ,
Local variable 𝑠:
• B-Splines have a global parameter 𝑡 ∈ [𝑡 , 𝑡 ]
• In each knot span 𝑡 ∈ [𝑡 , 𝑡 [ we introduce a local parameter 𝑠 = [0 1[

𝑠 = [0 1[ 𝑠 = [0 1[
𝑠 = [0 1[ 𝑠 = [0 1[
𝑡 𝑡 … 𝑡 𝑡 … 𝑡

Analogy to de Casteljau’s algorithm
• 𝑝=2
Level p = 1:
𝑷 • 𝑷 𝑷 with 𝑠 ∈ [0.5, 1[
• 𝑷 𝑷 with 𝑠 ∈ [0, 0.5[
𝑷 ,
𝑷 ,
𝑷 ,
Level p = 2:
• 𝑷 , 𝑷 , with 𝑠 ∈ [0, 1[
with 𝑠 ∈ [0,1[ being the interpolation

𝑷 parameter of each line 𝑷 𝑷
𝑷
Observation: In contrast to De Casteljau‘s algorithm for Bézier curves:

• only the lines of 𝑝 + 1 control points are used
• not all lines between the control points are entirely interpolated

• Comment on indices for the intermediate points
,
polynomial degree 𝑝
knot span 𝑖 i.e. 𝑡 ∈ [𝑡 , 𝑡 ]
• Points are counted backwards starting from 𝑖

(explained in section: de Boor‘s algorithm)
[𝑷 , , … , 𝑷 , , 𝑷 , , 𝑷 , ]
“Starting” from 𝑖 going backwards 𝑝 + 1 control points…

Analogy to de Casteljau’s algorithm
• 𝑝=3
𝑷 , 𝑷 𝑷 ,
, 𝑈 = [0 1 2 3 4 5 6 7 8]
𝑷 ,
𝑷 ,
partition of unity is only
𝑷 , 𝑷 , here fulfilled
𝑷 ,
curve in knot span [4, 5]

curve in knot
span [3, 4] 𝑷 ,
𝑷 ,
𝑷 ,

Analogy to de Casteljau’s algorithm:
• Interpolation parameter for different polynomial degrees 𝑝 → 𝑛 =𝑝+1
• Attention: This holds only for equidistant knots
𝑠∈ ,1 𝑠∈ , 𝑠∈ , 𝑠∈ , 𝑠 ∈ 0,
𝑝=5
𝑠∈ ,1 𝑠∈ , 𝑠∈ , 𝑠 ∈ 0,
𝑝=4
𝑠∈ ,1 𝑠∈ , 𝑠 ∈ 0,
𝑝=3
𝑠∈ ,1 𝑠 ∈ 0,
𝑝=2
𝑠 ∈ 0, 1
𝑝=1

Differences to De Casteljau’s algorithm (for Bézier curves):
• Polynomial degree is independent of number of control points
• Local support: Not all control points are taken into account
• Works (at the moment) with an equidistant knot vector
Non-equidistant knot vector:

 See De Boor’s algorithm

Example:
Remark: To interpolate the first and the last control point, they have been inserted
multiple times at the same position (with this trick no open knot vector is needed)
B-Spline curves
• Introduction
• Shape functions
• Knot vector
• Bézier analogy
• Refinement
• Properties

B-Splines: De Boor’s algorithm
Remember from the calculation of the shape functions:
3−𝑡 𝑡−1 4−𝑡 𝑡−2

…= 3−𝑡 ⋅ ⋅𝑷 + ⋅𝑷 + 𝑡−2 ⋅ ⋅𝑷 + ⋅𝑷
2 2 2 2
interpolation interpolation
= 3−𝑡 ⋅ 𝑷 , + 𝑡−2 ⋅ 𝑷 ,
These correspont to De Boor‘s interpolation

parameter α ,

Derivation of de Boor’s algorithm:
• Consider 𝑡 inside knot span [𝑡 , 𝑡 [
𝑡 𝑡 … 𝑡 𝑡 … 𝑡

Derivation of de Boor’s algorithm: 𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 ,
• Which control points are affected? 𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁 , 𝑁 ,
→ 𝑘𝑛𝑜𝑡 𝑠𝑝𝑎𝑛 𝑖 𝑁 … 𝑁 ,
,
⋮ ⋮
→ 𝑷 ,…,𝑷 ⋮ ⋮
𝑁 ,
→ 𝑛 =𝑝+1 𝑁 , …
𝑁 ,
𝑡 ∈ [𝑡 , 𝑡 [ 𝑁, ⋮
𝑁 ,
𝑁,
𝑁, … 𝑁 ,
⋮ 𝑁,
⋮
⋮ ⋮
𝑁 , …
𝑡 ∈ [𝑡 ,𝑡 [ 𝑁 , 𝑁 ,
𝑁 ,
𝑁 ,
𝑡 ∈ [𝑡 ,𝑡 [ 𝑁 ,

𝑁
• Example of affected control points ,
𝑁 ,
𝑁 , 𝑁 ,
𝑖=6 i.e. 𝑡 ∈ [𝑡 , t [ 𝑁 , 𝑁 , 𝑷
𝑝=3 𝑁 , 𝑁 ,
𝑁 , 𝑁 , 𝑷
𝑁 , 𝑁
→ 𝑛 =𝑝+1=4 ,
𝑁 , 𝑁 , 𝑷
→ 𝑷 ,…,𝑷 𝑁 , 𝑁 ,
𝑁 , 𝑁 , 𝑷
→ 𝑷 ,𝑷 ,𝑷 ,𝑷 𝑁 , 𝑁 ,
𝑁 , 𝑁 , 𝑷
𝑁 , 𝑁 ,
𝑁 , 𝑁 , 𝑷
𝑁 , 𝑁 ,
𝑁 ,
𝑁 ,

• Linear interpolation on line [𝑷 , ,𝑷 , ]
recursive call to intermediate control points one level below (down to the actual
control points 𝑷 , = 𝑷 )
𝑪 𝑡 = 𝑷 , = 1−𝛼 , ⋅𝑷 , +𝛼, ⋅𝑷,
De Boor‘s interpolation parameter
Remarks:
• This algorithm evaluates the curve directly. No shape functions are computed.
• Intermediate control points 𝑷 , are recursively interpolated from actual control points

Consider the following setup:
𝑝=3
𝑡 ∈ [𝑡 , 𝑡 [ → 𝑁 , ≠0
Calculation of the point on curve in that knot span: 𝑖 = 4:
𝑪 𝑡 =𝑷 , = 𝑁, 𝑡 ⋅𝑷 ,
= 𝑁 , (𝑡) ⋅ 𝑷 , + 𝑁 , (𝑡) ⋅ 𝑷 , +𝑁 , (𝑡) ⋅ 𝑷 , + 𝑁 , (𝑡) ⋅ 𝑷 ,
with:
𝑁, = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡

Without condensing the equations: Remember:
𝑁, = ⋅𝑁, 𝑡 + ⋅𝑁 , 𝑡
𝑪 𝑡 =𝑷 , = 𝑁, 𝑡 ⋅𝑷 =
=𝑁 , 𝑡 ⋅𝑷 +𝑁 , 𝑡 ⋅𝑷 +𝑁 , 𝑡 ⋅ 𝑷 + 𝑁 , (𝑡) ⋅ 𝑷
p = 3: 𝑁 , 𝑡 = ⋅𝑁 , 𝑡 + ⋅𝑁 , 𝑡
p = 2: 𝑁 , 𝑡 = ⋅𝑁 , 𝑡 + ⋅𝑁 , 𝑡
p = 1: 𝑁 , 𝑡 = ⋅𝑁 , 𝑡 + ⋅𝑁 , 𝑡
p = 0: 𝑁 , 𝑡 =0

Without condensing the equations (𝑁 , = 1 and 𝑁 , = 0 𝑖≠4)
𝑁 ,
𝑁 , 𝑁 ,
𝑡−𝑡 𝑡−𝑡 𝑡−𝑡 𝑡 −𝑡 𝑡 −𝑡 𝑡−𝑡 𝑡 −𝑡

𝑁 , = ⋅ ⋅ ⋅𝑁 , + ⋅𝑁 , + ⋅ ⋅𝑁 , + ⋅𝑁 , +
𝑡 −𝑡 𝑡 −𝑡 𝑡 −𝑡 𝑡 −𝑡 𝑡 −𝑡 𝑡 −𝑡 𝑡 −𝑡
𝑁 ,
𝑁 , 𝑁 ,
𝑡 −𝑡 𝑡−𝑡 𝑡−𝑡 𝑡 −𝑡 𝑡 −𝑡 𝑡−𝑡 𝑡 −𝑡

+ ⋅ ⋅ ⋅𝑁 , + ⋅𝑁 , + ⋅ ⋅𝑁 , + ⋅𝑁 ,
𝑡 −𝑡 𝑡 −𝑡 𝑡 −𝑡
𝑁 , = ⋅ ⋅ 𝑁, ,𝑁, ,𝑁 , analogously
These factors correspond to the De Boor’s factors 𝛼

B-Splines: De Boor’s algorithm Remember De Boor‘s algorithm:
𝑷, = 1−𝛼 , ⋅𝑷 , +𝛼 , ⋅𝑷 ,
On the highest level:
𝑡 −𝑡 𝑡 −𝑡 𝑡 −𝑡 𝑡−𝑡 𝑡−𝑡 𝑡 −𝑡 𝑡−𝑡

𝑷 , = ⋅ ⋅ ⋅𝑷 + ⋅𝑷 + ⋅ ⋅𝑷 + ⋅𝑷 +
(1 − 𝛼 , ) 𝑷 ,
𝑡−𝑡 𝑡 −𝑡 𝑡 −𝑡 𝑡−𝑡 𝑡−𝑡 𝑡 −𝑡 𝑡−𝑡

+ ⋅ ⋅ ⋅𝑷 + ⋅𝑷 + ⋅ ⋅𝑷 + ⋅𝑷
𝛼 , 𝑷 ,

𝑷, = 1−𝛼 , ⋅𝑷 , +𝛼 , ⋅𝑷 ,
For the middle level:

𝑷 , = ⋅ ⋅ ⋅𝑷 + ⋅𝑷 + ⋅ ⋅𝑷 + ⋅𝑷 +
(1 − 𝛼 , ) 𝑷 , 𝛼 , 𝑷 ,
𝑷 ,

+ ⋅ ⋅ ⋅𝑷 + ⋅𝑷 + ⋅ ⋅𝑷 + ⋅𝑷
(1 − 𝛼 , ) 𝑷 , 𝛼 , 𝑷 ,
𝑷 ,

𝑷, = 1−𝛼 , ⋅𝑷 , +𝛼 , ⋅𝑷 ,
For the lowest level:

𝑷 , = ⋅ ⋅ ⋅𝑷 + ⋅𝑷 + ⋅ ⋅𝑷 + ⋅𝑷 +
(1 − 𝛼 , ) 𝛼 , (1 − 𝛼 , ) 𝛼 ,
𝑷 , 𝑷 ,

+ ⋅ ⋅ ⋅𝑷 + ⋅𝑷 + ⋅ ⋅𝑷 + ⋅𝑷
(1 − 𝛼 , ) 𝛼 , (1 − 𝛼 , ) 𝛼 ,
𝑷 , 𝑷 ,

recursion counter 𝑟
• Preliminary considerations of de Boor’s parameter
𝑷 𝑷 𝑷 𝑷 𝑟=4 𝑙𝑒𝑣𝑒𝑙 0
𝑡−𝑡 𝑡−𝑡 𝑡−𝑡

𝛼 , = 𝛼 , = 𝛼 , = 𝑟=3 𝑙𝑒𝑣𝑒𝑙 1
𝑡−𝑡 𝑡−𝑡
𝛼 , = 𝛼 , = 𝑟=2 𝑙𝑒𝑣𝑒𝑙 2
𝑡−𝑡
𝛼, =
𝑡 −𝑡
𝑡−𝑡
𝛼 , = 𝑟=1 𝑙𝑒𝑣𝑒𝑙 3
𝑡 −𝑡

Pseudo Code: 1 function P = deBoor( t, i, p, U, CP, r )
2 Input: t: parameter value
3 i: current knot span
4 p: polynomial degree
5 U: knot vector
6 CP: control points
7 Output: P: point on curve
8 if firstCall -> r = 1
9
10 if r == p+1
11 P = CPi
12 return
13 end
14
15 αi,r = (t-ti)/(ti+r-ti))
16
17 Pi-1,p-1 = deBoor(t, i-1,p,U,CP, r+1)
18 Pi,p-1 = deBoor(t, i, p,U,CP, r+1)
19
20 Pi,p = (1- αi,r). Pi-1,p-1 + αi,r . Pi,p-1
21 end

Consider a non-equidistant knot vector:
Example:
𝑷
𝑈 = [0 0 0 0 1 4 9 9 9 9]
𝑝=3 𝑛=6
We consider:
𝑷
𝑡 ∈ [𝑡 , 𝑡 [ = [1, 4[
→𝑖=5
Affected control points:

𝑷 ,𝑷 ,𝑷 ,𝑷
𝑷
𝑷

De Boor’s formulas: 𝑈 = [0 0 0 0 1 4 9 9 9 9]
𝑷, = 1−𝛼, ⋅𝑷 +𝛼 , ⋅𝑷 , 𝑡−𝑡
, 𝛼, =
𝑡 −𝑡
Highest level (r = 1):

𝑡−𝑡 𝑡−1
𝑷 , = 1−𝛼 , ⋅𝑷 , +𝛼 , ⋅𝑷 , 𝛼 , = =
𝑡 −𝑡 4−1
Middle level (r = 2):

𝑷 , = 1−𝛼 , ⋅𝑷 , +𝛼 , ⋅𝑷 , 𝛼 , = =
𝑡 −𝑡 4−0
𝑷 = 1−𝛼 ⋅𝑷 +𝛼 ⋅𝑷 𝛼 , = =
, , , , , 𝑡 −𝑡 9−1

De Boor’s formulas: 𝑈 = [0 0 0 0 1 4 9 9 9 9]
𝑷, = 1−𝛼, ⋅𝑷 +𝛼 , ⋅𝑷 , 𝑡−𝑡
, 𝛼, =
𝑡 −𝑡
3rd level (r = 3):

𝑷 , = 1−𝛼 , ⋅𝑷 +𝛼 , ⋅𝑷 𝛼 , = =
𝑡 −𝑡 4−0
𝑷 , = 1−𝛼 , ⋅𝑷 +𝛼 , ⋅𝑷 𝛼 , = =
𝑡 −𝑡 9−0
𝑷 , = 1−𝛼 , ⋅𝑷 +𝛼 , ⋅𝑷 𝛼 , = =
𝑡 −𝑡 9−1

For the entire curve for 𝑡 ∈ [1, 4[
𝑪 𝑡 ∈ [1,4[ =
𝑷 , = 1−𝛼 , ⋅ 1−𝛼 , ⋅ 1−𝛼 , ⋅𝑷 +𝛼 , ⋅𝑷 +𝛼 , ⋅ 1−𝛼 , ⋅𝑷 +𝛼 , ⋅𝑷
𝑷 , 𝑷 ,
𝑷 ,
+𝛼 , ⋅ 1−𝛼 , ⋅ 1−𝛼 , ⋅𝑷 +𝛼 , ⋅𝑷 +𝛼 , ⋅ 1−𝛼 , ⋅𝑷 +𝛼 , ⋅𝑷
𝑷 , 𝑷 ,
𝑷 ,

Remember de Casteljau’s analogy for equidistant knots: e.g. 𝑈 = [0000 1 2 3 … ]
• 𝑝=3
0
1
1
2
1
2 1 2
3 3 0
1 𝑷
𝑷 , ,
2
1
3
3
1
0
curve in knot span [4, 5[
curve in knot 𝑷 ,
span [3, 4[
𝑷 ,
𝑷 ,

Using the local parameter 𝑠 ∈ [0, 1[ in knot span 𝑡 ∈ [1, 4[
0 1
• Exemplarily for 𝑷 , (𝑠) with 𝑷 = ,𝑷 = :
0 0
𝑠 0 1
𝑷 , = 1−𝛼 , ⋅𝑷 +𝛼 , ⋅𝑷
𝑡 1 4
𝑡
1 4 𝛼 , =
𝛼 , 𝑠 =1 4
4 4
3 1
𝑷 , (𝑠) ⋅𝑷 + ⋅𝑷 0⋅𝑷 +1⋅𝑷
4 4
with 1 1 1
⋅ = 0.25
coordinates 4 0 0 0
𝑷 𝑷 (𝑠) 𝑷
,

De Casteljau’s algorithm with De Boor’s values:
Lowest level: 𝑷
3
𝑡 8
𝛼 , =
4 𝑡 ∈ [1, 4[
0
𝑡
𝛼 , = 𝑷 , (𝑡) = 1 − 𝛼 , ⋅𝑷 +𝛼, ⋅𝑷 𝑷 (𝑠)
9 ,
𝑷
𝑡−1 𝛼 ,
𝛼 , =
8
𝑈 = [0 0 0 0 1 4 9 9 9 9] 4
𝑷 (𝑠) 9
,
𝛼 ,
𝛼 , 1
1 𝑷 , (𝑠)
𝑷 9
4
𝑷
1

Middle level: 𝑷
𝑡 𝑡 ∈ [1, 4[
𝛼 , =
4 𝑷 , (𝑠)
𝑷 , (𝑡) = 1 − 𝛼 , ⋅𝑷 , (𝑡) + 𝛼 , ⋅ 𝑷 , (𝑡)
𝑡−1 𝑷
𝛼 , =
8 3
𝛼 ,
8
1
𝑈 = [0 0 0 0 1 4 9 9 9 9]
0
𝛼 ,
1
4 𝑷 (𝑠)
,
𝑷
𝑷 𝑷 , (𝑠)

Highest level: 𝑷
𝑡−1 𝑡 ∈ [1, 4[
𝛼 , = 𝑷 = 1−𝛼 ⋅𝑷 +𝛼 ⋅𝑷
3 , , , , ,
1
𝑷 , (𝑠)
𝑈 = [0 0 0 0 1 4 9 9 9 9]
0
𝛼 ,
𝑷 , (𝑠)
𝑷
𝑷

B-Spline curves
• Introduction
• Shape functions
• Knot vector
• Bézier analogy
• Refinement
• Properties

B-Splines: Refinement
Task:
• Change the setup of the spline without changing the shape of the curve
Two possibilities:
1. Knot insertion
 Add a new knot 𝑡 into the knot vector 𝑼
𝑼 = [𝑡 , … , 𝑡 ]
𝑼 = [𝑡 , … , 𝑡 ,…,𝑡 ]
2. Degree elevation
 Raise polynomial degree
𝑝 =𝑝+1

1. Knot insertion:
• Let 𝑡 be in knot span
𝑡 ∈ [𝑡 , 𝑡 [
• Find new control points 𝑸 (analogous to de Boor’s algorithm) on control

polygon legs 𝑷 𝑷 to 𝑷 𝑷 (i.e. lines between affected control
points)
𝑸 = 1−𝛼 ⋅𝑷 +𝛼 ⋅𝑷
𝑡 −𝑡
𝛼 = 𝑗 ∈ [𝑖 − 𝑝 + 1, 𝑖]
𝑡 −𝑡
• Remark: Keep first and last control point (𝑸 =𝑷 and 𝑸 =𝑷)

𝑷
Example:
𝑝=2 𝑈 = [0 0 0 1 1 1]
Insert knot:
𝑡 = 0.25
Affected knot span 𝑖 ? 𝑷 𝑷

𝑡 ∈ 𝑡 ,𝑡 →𝑖=3
Find the control polygon legs 𝑷 𝑷 to 𝑷 𝑷:
no legs in between

𝑷
Determine new control points 𝑄
𝑸 = 1−𝛼 ⋅𝑷 +𝛼 ⋅𝑷
𝑡 −𝑡
𝛼 = 𝑗 ∈ [𝑖 − 𝑝 + 1, 𝑖]
𝑡 −𝑡
𝑈 = [0 0 0 1 1 1] 𝑷 𝑷
with 𝑗 ∈ 3 − 2 + 1, 3 = [2, 3]:

𝑡 −𝑡 0.25 − 0
𝑸 = 1−𝛼 ⋅𝑷 +𝛼 ⋅𝑷 𝛼 = = = 0.25
𝑡 −𝑡 1−0
𝑡 −𝑡 0.25 − 0
𝑸 = 1−𝛼 ⋅𝑷 +𝛼 ⋅𝑷 𝛼 = = = 0.25
𝑡 −𝑡 1−0

𝑷
Keep first and last affected control point:
𝑸
𝑸 =𝑷
𝑸 =𝑷 𝑸
𝑸 𝑸
𝑷 𝑷
Now gives exactly the same curve as before

(just with a different description)
Such a process may also be called

Re-parametrization 𝑷 𝑷

Knot insertion: Example 2
𝑝=4 𝑡 ∈ [𝑡 , 𝑡 [
𝑷 𝑷
𝑦 𝑦
𝑷 𝑷
𝑷 𝑷
𝑷
𝑷 𝑷
𝑷 𝑷 𝑷 𝑷
𝑷 𝑷
𝑷 𝑷
𝑷 𝑷
𝑥 𝑥

2. Order elevation: Not treated
Preliminary consideration: Degree elevation of Bézier curve
• New number of control points
𝑛=𝑝+1
𝑛 =𝑝 +1=𝑛+1 𝑦
𝑷
𝑸 𝑸
• Find on each control polygon line a new Point 𝑸
𝑷
𝑖 𝑖 𝑷
𝑸 = ⋅𝑷 + 1− ⋅𝑷 i ∈ [2, 𝑛 − 1]
𝑛 𝑛
𝑸 𝑸
• Keep first and last point

𝑷 𝑷
𝑸 = 𝑷
𝑥
Bézier curve
𝑸 = 𝑷

2. Order elevation for B-Splines Not treated
• Subdivide B-Spline into several Bézier segments (using knot insertion)
𝑼 = 𝑡 ,…,𝑡 ,𝑡 ,…,𝑡 ,…,𝑡 ,…,𝑡
𝑝+1 𝑝+1
𝑼 = 𝑡 ,…,𝑡 ,𝑡 ,…,𝑡 ,…,𝑡 ,…,𝑡 ,…,𝑡 ,…,𝑡
𝑝 +1 𝑝 𝑝 𝑝 +1  Remember 𝐶 conitinuity
• Perform degree elevation on each Bézier segment
• Delete unnecessary knots

B-Spline curves
• Introduction
• Shape functions
• Knot vector
• Bézier analogy
• Refinement
• Properties

B-Splines: Properties
Important numbers of B-Splines
• Example setup:
𝑝=3 1 2 3 4 5 6 7 𝑈 = [0 0 0 0 1 1 2 4 4 4 4]
𝐶𝑃 = → 𝑛=7
0 1 0 1 0 1 0
Description Variable Formula Example
Number of knots 𝑚 𝑚 =𝑛+𝑝+1 𝑚 = 7 + 3 + 1 = 11
Multiplicity (number of same knots) 𝑘 - 𝑘 𝑡=1 =2
Open knot vector (interpolation of 𝑘 =𝑝+1 𝑘 𝑡=0 =4 and

-
1st and last CP) for 𝑡 = 𝑡 and 𝑡 = 𝑡 𝑘 𝑡=4 =4
Continuity 𝐶 𝐶 𝐶 𝑡=1 =𝐶 =𝐶
𝑡 = 2.5 → 𝑖 = 7 (knot span)

Affected control points - [𝑷 ,…𝑷 ]
[𝑷 , 𝑷 , 𝑷 , 𝑷 ]

Advantages of B-Splines:
• Independent polynomial degree: 𝑝
• Local influence of shape functions / control points
• Parametric curve description: 𝑪(𝑡)
• Approximating  smoother
• Controllable continuity at knots: 𝐶
• Convex hull property  no/less oscillations

Disadvantage of B-Splines:
• Approximating (curve does not go through points)  Curve-Fitting
• Not all curves are representable (circle, offset, etc.)  NURBS
• Computationally expensive  Idea: Curve caching

Not treated

NURBS curves

NURBS curves
• Introduction
• Weights
• Shape functions
• Exact geometry representation
• Properties

NURBS: Introduction
What means NURBS?
• NU… non-uniform Knots are not uniformly distributed (already known)
• R… rational Shape functions are fractional rational functions
• BS… B-Splines
What is new?
• Control points carry a weight
𝑥
𝑦
𝑷 = 𝑧
𝑤

NURBS curves
• Introduction
• Weights
• Shape functions
• Properties

NURBS: Weights
Why NURBS?
• Weights control the influence of a control point
 More shapes are possible
𝑷
𝑥
𝑷 = 𝑦
𝑷 𝑤
1 2 3 4
𝑷 𝑤 = 0, , , , , 1
5 5 5 5
𝑷
1
0.8
0.6
0.4
0.2
0
𝑷 𝑷

NURBS curves
• Introduction
• Weights
• Shape functions
• Properties

NURBS: Shape functions
Basic concept:
• Parametric curve with shape functions (similar to B-Splines)
𝑥(𝑡) 𝑃,
𝑪 𝑡 = 𝑦(𝑡) = 𝑅 , (𝑡) ⋅ 𝑷 = 𝑅, 𝑡 ⋅ 𝑃,
𝑧(𝑡) 𝑃,
• with 𝑅 , (𝑡)
𝑁, 𝑡 ⋅𝑤
𝑅, 𝑡 =
𝑁, 𝑡 ⋅𝑤
• with 𝑁 , 𝑡 being the B-Spline shape functions
• and 𝑤 the weight of the respective control point

Rational shape function
𝑁, 𝑡 ⋅𝑤
𝑅, 𝑡 =
𝑁, 𝑡 ⋅𝑤
Why divide?
• If 𝑤 ≠ 1 partition of unity is not fulfilled anymore
𝑁, 𝑡 ⋅𝑤 ≡ 1
• Dividing with 𝑁, 𝑡 ⋅𝑤 restores partition of unity

Shape functions for different weights
𝑅 ,
𝑅 ,
𝑤 = 1.0 𝑤 = 0.6
𝑤 = 0.2 𝑤 = 0.0
𝑅 ,
𝑅 , =0

NURBS curves
• Introduction
• Weights
• Shape functions
• Properties

NURBS circle representation
𝑝=2
𝜋 𝜋
𝑈 = 000 𝜋 𝜋 𝜋
2 2
1 1 0 −1 −1
𝑷 = 0 1 1 1 0

1 1⁄ 2 1 1⁄ 2 1
𝑥
𝑷 𝑷 𝑷
Isogeometric Analysis, Cotrell, Hughes, Bazilevs, Wiley 2008

𝑅 = 1.0
𝑷 𝑷
𝑦
NURBS: Exact geometry representation
Difference to standard parametric circle description
∆ cos(𝑡)
𝑪 𝑡 =
sin(𝑡)
∆𝑥 = 𝑥 − 𝑥
∆𝑦 = 𝑦 − 𝑦
𝑡 𝑠 … standard
𝑛 … NURBS

NURBS can represent a circle exactly
• Question: Why is there a difference?
• Answer: A parameter 𝑡 refers to different points on the curve
𝑷 ,
𝑷 ,
𝑷 ,
𝑷 ,
𝑷, 𝑷,
∆𝑡
∆𝑡 𝑡
Standard circle (𝑠𝑖𝑛, 𝑐𝑜𝑠): NURBS circle:

Points equidistant along the circle Points not equidistant along the circle

Difference to standard parametric circle description:
• Consider the velocity
𝛿𝑥 𝑡 𝛿𝑦 𝑡
𝑣 𝑡 = 𝑪̇(𝑡) = +
𝛿𝑡 𝛿𝑡
• For the standard circle

𝑣 𝑡 = − sin 𝑡 + cos 𝑡 =1

NURBS curves
• Introduction
• Weights
• Shape functions
• Properties

NURBS: Properties
Differences to B-Splines:
• More geometries possible because of weights 𝑤
• Computationally more expensive  no exact caching possible
• Programming more challenging
• Problems with integration:

 Gauss integration only exact for polynomials, not rational functions

Curve fitting

Curve fitting
• Motivation
• Method
• Example

Curve fitting: Motivation
B-Splines and NURBS interpolate only 1st and last control point
𝑸 𝑸
𝑸
#
𝑸 𝑸
Is there a way to interpolate points with

B-Splines or NURBS?

Curve fitting: Motivation
Desired solution 𝑷
𝑥
𝑸 𝑷
𝑸
𝑷
𝑸
𝑸
𝑷 𝑷

Curve fitting
• Motivation
• Method
• Example

Curve fitting: Method
B-Spline curve
𝑪 𝑡 = 𝑁 , (𝑡) ⋅ 𝑷
What is needed to define a B-Spline curve?

• Polynomial degree 𝑝 provided by user
• Number of control points 𝑷 𝑛 equals
• Parameter position of 𝑸 𝑡 TODO
• Knot vector 𝑈 = [𝑡 … 𝑡 ] TODO
• Control points 𝑷 TODO

Which is the parameter position of point 𝑸 ? 𝑥
𝑡 𝑸
𝑡 … 𝑡 … 𝑡 𝑸
𝑸
𝑸
Different possibilities: 𝑸
1. Equidistant distribution
𝑦
2. Chord length method
3. Centripetal technique

𝑥
Which is the parameter position of point 𝑸 ?

𝑸
1. Equidistant distribution
𝑸
𝑸
• Give first and last parameter position 𝑸
𝑸
𝑡 =0 𝑡 =1
𝑦
• Inner parameter equidistantly distributed

𝑘−1
𝑡 = 𝑘 ∈ [2, 𝑛 − 1] Example:
𝑛−1
𝑛=5
• Final parameter vector 1 2 3
𝑡 = 0, , , ,1
𝑘−1 4 4 4
𝑡 = 0, … , ,…1 𝑘 ∈ [1, 𝑛]
𝑛−1

𝑥

𝑸
2. Chord length method
𝑸
𝑸
• Be 𝑑 the length between 𝑸 and 𝑸 𝑸
𝑸
𝑑 = 𝑸 −𝑸
𝑦
• The overall length 𝑑 is
𝑑= 𝑑 Example:
𝑛=5
• The parameter positions 𝑡 are 𝑑 = 2, 4, 3, 7 → 𝑑 = 16

𝑑
𝑡 =𝑡 + 2 6 9
𝑑 𝑡 = 0, , , ,1
16 16 16
𝑡 =0

𝑥

𝑸
3. Centripetal technique
𝑸
𝑸
• Similiar to chord length method 𝑸
𝑸
𝑑 = 𝑸 −𝑸
𝑦

𝑑= 𝑑
Example:
• The parameter positions 𝑡 are
𝑛=5

𝑑
𝑡 =𝑡 +
𝑑 𝑑 = 2, 4, 3, 7 → 𝑑 ≈ 7.792
𝑡 =0
𝑡 = 0 , ~0.181 , ~0.438 , ~0.66, 1

B-Spline curve
𝑪 𝑡 = 𝑁 , (𝑡) ⋅ 𝑷

• Parameter position of 𝑸 𝑡 Done
• Knot vector 𝑈 = [𝑡 … 𝑡 ] TODO

Compute the knots:
• How many knots are needed?
𝑚 =𝑛+𝑝+1
• How many knots need to be determined?
𝑚 = 𝑚−2⋅𝑝 = 𝑛−𝑝+1
𝑡
• With 𝑡 = 0 and 𝑡 =1
𝑡 …𝑡 … 𝑡 … …𝑡
𝑡
𝑡 ,…,𝑡 =0
𝑡 ,…,𝑡 =1
𝑚 = 𝑚−2⋅ 𝑝+1 =𝑛−𝑝−1

Inner knots are computed using the averaging technique
𝑡
• Open knot vector …
𝑡 …𝑡 … 𝑡 𝑡 …𝑡
𝑡 ,…,𝑡 =0
𝑡 ,…,𝑡 =1 inner knots
• Inner knots are averaged by 𝑝 knots Example:

1 2 3 4
𝑡 = 0, , , , ,1
5 5 5 5
1 𝑝 = 2:
𝑡 = 𝑡 𝑖 ∈ [1, 𝑚 ]
𝑝 3 5 7
𝑈 = 0, 0, 0, , , , 1, 1, 1
10 10 10
𝑝 = 3:
6 9
𝑈 = 0, 0, 0, 0, , , 1, 1, 1, 1
15 15

B-Spline curve
𝑪 𝑡 = 𝑁 , (𝑡) ⋅ 𝑷

• Knot vector 𝑈 = [𝑡 … 𝑡 ] Done

Computation of control points 𝐏 :
• Parametric curve description
𝑁 , (𝑡) ⋅ 𝑥
𝑪 𝑡 = 𝑁, 𝑡 ⋅𝑷 =
𝑁 , (𝑡) ⋅ 𝑦
• Evaluated at 𝑡 :
𝑁 , (𝑡 ) ⋅ 𝑥
𝑸𝒌 = unknown coordinates of control points 𝑷

𝑁 , (𝑡 ) ⋅ 𝑦

• Set up a linear system of equations
𝑁 , (𝑡 ) ⋯ 𝑁 , (𝑡 ) 𝑷 𝑸
⋮ ⋱ ⋮ ⋮ = ⋮
𝑁 , (𝑡 ) ⋯ 𝑁 , (𝑡 ) 𝑷 𝑸
• Solve for each coordinate
𝑁 , (𝑡 ) ⋯ 𝑁 ,(𝑡 ) 𝑥 𝑄 ,
⋮ ⋱ ⋮ ⋮ = ⋮
𝑁 , (𝑡 ) ⋯ 𝑁 , (𝑡 ) 𝑥 𝑄 ,
only right hand side changes

𝑁 , (𝑡 ) ⋯ 𝑁 ,(𝑡 ) 𝑦 𝑄 ,
⋮ ⋱ ⋮ ⋮ = ⋮
𝑁 , (𝑡 ) ⋯ 𝑁 , (𝑡 ) 𝑦 𝑄 ,

B-Spline curve
𝑪 𝑡 = 𝑁 , (𝑡) ⋅ 𝑷

• Knot vector 𝑈 = [𝑡 … 𝑡 ] Done
• Control points 𝑷 Done

• Set up a linear system of equations
𝑁 , (𝑡 ) ⋯ 𝑁 , (𝑡 ) 𝑷 𝑸
⋮ ⋱ ⋮ ⋮ = ⋮
𝑁 , (𝑡 ) ⋯ 𝑁 , (𝑡 ) 𝑷 𝑸
• To be solved for each coordinate
𝑁 , (𝑡 ) ⋯ 𝑁 ,(𝑡 ) 𝑥 𝑄 ,
⋮ ⋱ ⋮ ⋮ = ⋮
𝑁 , (𝑡 ) ⋯ 𝑁 , (𝑡 ) 𝑥 𝑄 ,
only right hand side changes

𝑁 , (𝑡 ) ⋯ 𝑁 ,(𝑡 ) 𝑦 𝑄 ,
⋮ ⋱ ⋮ ⋮ = ⋮
𝑁 , (𝑡 ) ⋯ 𝑁 , (𝑡 ) 𝑦 𝑄 ,

Curve fitting
• Motivation
• Method
• Example

Curve fitting: Example
Example for curve fitting: Set-up
Given:
• Polynomial degree
𝑝=2 𝑸𝟑 𝑸𝟐
• Interpolation points
0 3 −1 −4 −4 −3
𝑸 =
0 4 4 0 −3 −3
𝑸𝟒 𝑸𝟏
• Number of control points 𝑛
𝑛=# 𝑸 =𝟔 𝑸𝟔
𝑸𝟓
Unknown:
• Knot vector 𝑼
• Control points 𝑷

Example for curve fitting: Parameter values 𝑡 using chord length method
• Compute distances 𝑑 between interpolation points
𝑑 = 𝑸 −𝑸 𝑑 =5 𝑑 =4 𝑑 =5 𝑑 =3 𝑑 =1
• Compute total chord length
𝑑= 𝑑 = 18
• Compute 𝑡 :
𝑑
𝑡 =0 𝑡 =𝑡 +
𝑑
5 9 14 17
𝒕 = 0, , , , ,1
18 18 18 18

Example for curve fitting: Compute knot vector
• Number of knots
𝑚 = 𝑛+𝑝+1=6+2+1=9
• Open knot vector
𝑼 = [0,0,0, … , 1,1,1]
𝑝+1 𝑝+1
• Inner knots
5 9 14 17 1
𝒕 = 0, , , , , 1 𝑡 = 𝑡
18 18 18 18 𝑝
1 5 9 14
𝑡 = + =
2 18 18 36
14 23 31
𝑼 = 0,0,0, , , , 1,1,1
36 36 36

Example for curve fitting: Compute control points 𝑷
1 0 0 0 0 0
5 5 5
𝑁 , 𝑁 , 𝑁 , 0 0 0
18 18 18
𝑷 𝑸
9 9 9 𝑷 𝑸
0 𝑁 , 𝑁 , 𝑁 , 0 0
18 18 18 𝑷 𝑸
=
14 14 14 𝑷 𝑸
0 0 𝑁 , 𝑁 , 𝑁 , 0 𝑷 𝑸
18 18 18
𝑷 𝑸
17 17 17
0 0 0 𝑁 , 𝑁 , 𝑁 ,
18 18 18
0 0 0 0 0 1
Solve once for 𝑥 − and once for 𝑦 − coordinates

Example for curve fitting: Result
𝑷𝟑
𝑷𝟐
𝑸𝟑 𝑸𝟐
𝑷𝟒
𝑸𝟒
𝑸𝟏 = 𝑷𝟏
𝑸𝟓
𝑸𝟔 = 𝑷𝟔
𝑷𝟓

Spline surfaces

Spline surfaces
• Set-up
• Trimmed surfaces

Spline Surfaces: Set-Up
Curve:
𝑪 𝑡 = 𝑀 , (𝑡) ⋅ 𝑷
Surface:
𝑺 𝑠, 𝑡 = 𝑀 , 𝑠 ⋅ 𝑀 , (𝑡) ⋅ 𝑷 ,
Shape functions 𝑀 , :
with: • 𝐵 , - Bézier (Bernstein-polynomials)
• 𝑛 ⋅ 𝑚 control points • 𝑁 , - B-Spline
• 𝑛 Points in 𝑠 direction • 𝑅 , - NURBS
• 𝑚 points in 𝑡 direction
• polynomial degree in 𝑠 direction 𝑝 = 𝑛 − 1
• polynomial degree in 𝑡 direction 𝑞 = 𝑚 − 1

Spline Surfaces: Set-Up
𝑠 2D parameter domain 3D physical domain
1
𝑷 ,
𝑷 ,
0 𝑷 ,
0 1 𝑡
𝑡-direction: 𝑠-direction:
𝑝=3 𝑞=2
𝑼 = [0,0,0,0,1,1,1,1] 𝑽 = [0,0,0, 1, 2,2,2]

Spline surfaces
• Set-up
• Trimmed surfaces

Spline Surfaces: Trimmed surfaces
Example
untrimmed spline patch trimmed spline patch

Trimming process
𝑧 Trim surface
3D:
𝑦
𝑥
1. Map (some)
3. Exclude curve from
intersection points
parameter domain
to parameter space
2. Find interpolating
𝑠 spline curve
2D:
𝑡

Problems with trimming:
• Curve can only interpolate sample

points
• Curve might not catch the correct

intersection curve Trim tea pot and spout
Glue together Trimming curve not exact!
From: Watertight trimmed NURBS by Thomas W Sederberg, G Thomas Finnigan, Xin Li, Hongwei Lin,
Heather Ipson ; ACM Transactions on Graphics (2008), Volume: 27, Issue: 3

Comparison of splines

Features Bézier B-Spline NURBS
𝑥(𝑡)
Parametric 𝑪 𝑡 = 𝑦(𝑡)
𝑧(𝑡)
Shape functions 𝑁 , (𝑡)
Partition of unity ∑ 𝑁 , 𝑡 =1 ∀𝑡
Positivity 𝑁, 𝑡 ≥ 0 ∀𝑡
Approximating
Convex hull property
Linear independent shape functions
Local influence of control points

Features Bézier B-Spline NURBS
Shape functions piecewise defined
Independent degree of freedom
Fast curve point evaluation
Large amount of curve forms
Exact circle/sphere description
Not/Little oscillating
Knot vector
Controllable continuity (𝐶 )

4 CurvesPartII PDF

Uploaded by

Copyright:

Available Formats

You might also like

4 CurvesPartII PDF

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

4 CurvesPartII PDF

Uploaded by

Copyright:

Available Formats

B-Spline curves

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 1

• Cox de Boor’s algorithm

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 2

• No oscillations From Bézier curves:

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 3

• 𝑘 - derivative of curve with respect to 𝑡:

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 4

• Cox de Boor’s algorithm

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 5

• The range between 𝑡 and 𝑡 is called knot span 𝑖

• Polynomials are defined on knot spans [𝑡 , 𝑡 [

• Polynomial degree 𝑝 is independent of the number of control points 𝑛

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 6

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 7

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 8

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 9

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 10

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 11

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 12

• 𝐶 continuity in knot spans 𝑡 𝑡 𝑡 𝑡 𝑡 𝑡

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 13

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 14

𝑈 = [0 1 2 3 4 5 6 7] Why is the origin interpolated?

same holds for 𝑪 7

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 15

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 16

𝑡 = 2.5 0.1 + 0.1 + 0.8 = 1.0

𝑡=4 0.5 + 0.5 = 1.0 𝑡=1 𝑡=4

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 17

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 18

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 19

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 20

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 21

• Cox de Boor’s algorithm

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 22

• The range between 𝑡 and 𝑡 is called knot span 𝑖

• Knots 𝑡 must be in non-descending order: 𝑡 ≤ 𝑡

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 23

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 24

𝑪 0 = 𝑁, 0 ⋅𝑷 = 1⋅𝑷 +0⋅𝑷 +0⋅𝑷 +0⋅𝑷 +0⋅𝑷 = 𝑷

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 25

• Multiplicity 𝑘 = 𝑝 + 1 at beginning and ending of knot vector

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 26

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 27

𝑪 0 = 𝑁, 0 ⋅𝑷 = 0⋅𝑷 +0⋅𝑷 +1⋅𝑷 +0⋅𝑷 +0⋅𝑷 = 𝑷

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 28

• Within the knot spans:

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 29

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 30

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 31

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 32

• Cox de Boor’s algorithm

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 33

parameter space where 𝑁 , ≠0 comes from multiplicity k > 1

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 34

Dr.-Ing. Stefan Kollmannsberger | Computation in Engineering | Geometric Modeling 35