GEOMETRIC

MODELING
Michael E. Mortenson

John Wiley &. Sons

New York Chichester Brisbane Toronto Singapore

Tachnische Hochschule Darmstadt

PACHBEREICH INFORMATIK

BIBL1OTHEK
hwentar-Nr.: Mi.^JlOSfL
Sachgobiete: .(7.A..V.
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 CONTENTS

1 INTRODUCTION I
1.1 Geometric Modeling: What It Is and What It Is Not 1
1.2 Historical Development 5
1.3 Applicable Mathematical Techniques 8
1.4 Nameable and Unnameable Geometric Shapes 18
1.5 Explicit and Implicit Equations 19
1.6 Intrinsic Equations 21
1.7 Parametric Equations 23
1.8 Coordinate Systems 28
1.9 Notation Scheme and General Conventions 29

2 CURVES 30
2.1 Algebraic and Geometric Forms 34
2.2 Tangent Vectors 39
2.3 Parametric Space of a Curve 44
2.4 Blending Functions 48
2.5 Reparametrization 53
2.6 Truncating, Extending, and Subdividing 57
2.7 Space Curve 58
2.8 Four-point Form 61
2.9 Graphic Construction and Interpretation 64
2.10 Straight Lines 72
2.11 Conies 79
2.12 Composite Curves 91
2.13 Spline Curves 98
2.14 Bezier Curves 113
2.15 5-Spline Curves 125
xiv CONTENTS

2.16 Rational Polynomials 147

2.17 Degenerate Curves and Pathological Conditions 149

3 SURFACES 151
3.1 Algebraic and Geometric Form 156
3.2 Tangent and Twist Vectors 166
3.3 Normals 169
3.4 Parametric Space of a Surface 171
3.5 Blending Functions 174
3.6 Reparametrization of a Surface Patch 175
3.7 Subdividing 179
3.8 Sixteen-Point Form 181
3.9 Four-Curve Form 184
3.10 Plane Surface 185
3.11 Cylindrical Surface 189
3.12 Ruled Surface 191
3.13 Surface of Revolution 195
3.14 Spherical Surface 200
3.15 Conic Surface 202
3.16 Composite Surfaces 204
3.17 Bezier Surface 215
3.18 5-Spline Surface 220
3.19 Degenerate Surfaces and Pathological Conditions 228
3.20 Curves on Surfaces 230
3.21 Surfaces with Irregular Boundaries 234

4 SOLIDS 240
4.1 Algebraic and Geometric Form 242
4.2 Tangent Vectors and Twist Vectors 251
4.3 Parametric Space of a Solid 253
4.4 Continuity and Composite Solids 254
4.5 Surfaces and Curves in a Solid 255
4.6 Solids with Irregular Boundaries 258
4.7 Generalized Notation Scheme and Higher Dimension
Elements 259
4.8 Element Construction 262

5 ANALYTIC PROPERTIES 266

5.1 Intrinsic Properties of a Curve 267
5.2 Intrinsic Properties of a Surface 280
5.3 Characteristic Tests 291
5.4 Direct and Inverse Point Solution 292
5.5 Global Properties 299
 Contents XV

6 RELATIONAL PROPERTIES 305

6.1 Minimum Distance between Two Points 305
6.2 Minimum Distance between a Point and a Curve 307
6.3 Minimum Distance between a Point and Surface 310
6.4 Minimum Distance between Two Curves 312
6.5 Minimum Distance between a Curve and Surface 314
6.6 Minimum Distance between Two Surfaces 316
6.7 Nearest Neighbor Spatial Search 317

7 INTERSECTIONS 319
7.1 Intersections with Straight Lines 319
7.2 Plane Intersections 324
7.3 Curve Intersections 330
7.4 Surface Intersections 333

8 TRANSFORMATIONS 345
8.1 Translation 345
8.2 Rotation 347
8.3 Scaling 356
8.4 Symmetry and Reflection 360
8.5 Homogeneous Transformations 366
8.6 Coordinate Systems and Nonlinear Transformations 370

9 SOLID MODELING FUNDAMENTALS 372

9.1 Topology of Closed Paths 373
9.2 Piecewise Flat Surfaces 384
9.3 Topology of Closed Curved Surfaces 395
9.4 Generalized Concept of a Boundary 396
9.5 Set Theory 399
9.6 Boolean Operators 403
9.7 Set-Membership Classification 413
9.8 Euler Operators 420
9.9 Formal Modeling Criteria 427

10 SOLID MODEL CONSTRUCTION 431

10.1 Graph-Based Models 431
10.2 Boolean Models 438
10.3 Instances and Parametrized Shapes 446
10.4 Cell Decomposition and Spatial-Occupancy
Enumeration 450
10.5 Sweep Representations 455
10.6 Constructive Solid Geometry 461
xvi CONTENTS

10.7 Boundary Representations 469

10.8 Wireframe Systems 477
10.9 Review of Two Solid Modeling Systems 480

11 GLOBAL PROPERTIES OF SOLID MODELS 486

11.1 Representation-Dependent Methods 487
11.2 The Timmer-Stern Method 489
11.3 Spatial Enumeration by Point Classification 495
11.4 Block Decomposition by Cell Classification 497

12 COMPUTER GRAPHICS 499

12.1 The Display Environment 500
12.2 Projections 505
12.3 Scene Transformation 525
12.4 Silhouette Curves 533
12.5 Hidden Surfaces 538
12.6 Realism 547

13 COMPUTER-AIDED DESIGN AND

MANUFACTURING 552
13.1 Design 554
13.2 Mechanical Parts 575
13.3 Interference Detection 581
13.4 Mechanisms 584
13.5 Tool Path Geometry 585

14 FRONTIERS OF GEOMETRIC MODELING 589

APPENDIX A. CADD 593
APPENDIX B. GMSolid 644
APPENDIX C. ROMULUS 666
APPENDIX D. Particle Systems 682
APPENDIX E. Summary of Important Equations 700
APPENDIX F. A List of Geometric Modeling Procedures 707
BIBLIOGRAPHY 713
ANSWERS TO SELECTED EXERCISES 731
INDEX 753