ces. For lines with slope magnitudes |m| <1, Ax can be set proportional to a nall horizontal deflection voltage and the corresponding, vertical deflection is then set proportional to Ay as calculated from Eq. 3-4. For lines whose slopes have magnitudes |m|> 1, Ay can be set proportional to a small vertical deflec- tion voltage with the corresponding horizontal deflection voltage set propor- tional to Ax, calculated from Eq. 3-5. For lines with m = 1, Ax = Ay and the hori- zontal and vertical deflections voltages are equal. In each case, a smooth line with slope m is generated between the specified endpoints. On raster systems, lines are plotted with pixels, and step sizes in the hori- zontal and vertical directions are constrained by pixel separations. That is, we must “sample” a line at discrete positions and determine the nearest pixel to the line at each sampled position. This scan-conversion process for straight lines is il- lustrated in Fig. 3-4, for a near horizontal line with discrete sample positions along the x axis. The digital differential analyzer (DDA) is a scan-conversion line algorithm based on culating either Ay or Ax, using Eq. 3-4 or Eq. 3-5. We sample the line at unit in- tervals in one coordinate arid determine corresponding integer values nearest the ine path for the other coordinate. Consider first a line with positive slope, as shown in Fig, 3-3. If the slope is than or equal to 1, we sample at unit x intervals (Ax = 1) and compute each successive y value as Yeu = Yet (3-6) Subscript k takes integer values starting from 1, for the first point, and increases by 1 until the final endpoint is reached. Since m can be any real number between Oand 1, the calculated y values must be rounded to the nearest integer. For lines with a positive slope greater than 1, we reverse the roles of x and That is, we sample at unit y intervals (Ay = 1) and calculate each succeeding x lue as 1 Be Het 3-7) Equations 3-6 and 3-7 are based on the assumption that lines are to be processed from the left endpoint to the right endpoint (Fig, 3-3). If this processing ~ reversed, so that the starting endpoint is at the right, then either we have Ax = —1and Veer = Ye G8) or (when the slope is greater than 1) we have Ay = els (3-9) Xe = Xe m 3.9 can also be used to calculate pixel positions along value of the slope is less than 1 and the = 1 and calculate y values with Eq, 3-6. Equations 3-6 through a line with negative slope. If the absolut start endpoint is at the left, we set Ax 2024.02.04 19:14 Section 3-2 : Line- Drawing Algorithms Figure 3-4 Straight line segment with five sampling positions along, the x axis between x and x.eeded at each st it cae an than the magnitude of Gy ails ¢ ee xand y directions are 1 and m, he x direction, but xa is greater than xb, ate each new point on the line, ection and an x in he yd Jecrement) in th rement) of 1/7. = dx / (float dy / (float) ster (ROUND (x), ROUND (y steps crement ; y += yIncrement; jetPixel (ROUND (x) The DDA algorithm is ~ faster method for calculating pixel positions than the direct use of Eq. 3-1. It -liminates the multiplication in Eq. 3-1 by making use of raster characteristics, so that appropriate increments are applied in the x or / direction to step to pixel positions along the line path. The accumulation of oundoff error in successive additions of the floating-point increment, however, can cause the calculated pixel positions to drift away from the true line path for / long line segments. Furthermore, the rounding operations and floating-point arithmetic in procedure 1ineDDA are still time-consuming. We can improve the performance of the DDA algorithm by separating the increments m and 1/m into integer and fractional Parts so that ail calculations are reduced to integer opera- tions. A method for calculating 1/m increments in integer steps is discussed in Section 3-11. In the following sections, we consider more general scan-line proce dures that can be applied to both lines and curves, ine Algorithm An accurate and efficient raster line-generating algorithm, developed by Bresen- 2024.02.04 19:14 ‘ham, scan converts lines using only incremental integer calculations that can be adapted to display circles and other curves. Figures 35 and 36 illustrate sections of a display screen where straight line segments are to be drawn: The vertical axes show scan-line positions, and the horizontal axes identify pixel columns. Sampling at unit x intervals in these examples, we need to decide which of two possible pixel positions is closer to the line path at each sample step Starting from the left endpoint shown in Fig. 3-5, we need to determine at the next sample position whether to plot the pixel at position (11, 11) or the one at (11, 12). Simi- larly, Fig. 3-6 shows a negative slope line path starting from the left endpoint at pixel position (50, 50). In this one, do we select the next pixel position as (51, 50) or as (51, 49)? These questions are answered with Bresenham’s line algorithm by testing the sign of an integer parameter, whose value is proportional to the differ- ence between the separations of the two pixel positions from the actual line path. To illustrate Bresenham’s approach, we first consider the scan-conversion process for lines with positive slope less than 1. Pixel positions along a line path are then determined by sampling at unit x intervals. Starting from the left end- point (xo, yo) of a given line, we step to each successive column (x position) and plot the pixel whose scan-line y value is closest to the line path. Figure 3-7 demonstrates the kth step in this process. Assuming we have determined that the pixel at (x, 4) is to be displayed, we next need to decide which pixel to plot in column xp, Our choices are the pixels at positions (x,+1, y,) and (x;+1, y+). At sampling position x,+1, we label vertical pixel separations from the mathematical line path as d, and d; (Fig. 3-8). The y coordinate on the mathemati- cal line at pixel column position x,+1 is calculated as y = m(xy + 1) +b 6-10) Then y— Ye = my + D+b-m = Yet Dy =yt1—mey+D he difference between these two separations is, dy — dy = 2b, + D) — 2yy + 2B=1 @-11) forthe kth stp inthe line algorithm cane ob- i 3 involves only integer calculations. We ac- tained by rearranging Eq, 3-11 so that it involves only : FY ing m= Ayr wher A and Ax are the vetal an Tortfontal separations ofthe endpoint positions, and defining: A decision parameter Pi py = Axtd ~ da) = Ay =x 2A ye +? G12) = dy, since Ax > 0 for our example. Pa- ign of d sign of pris the same as the sign of 5S en aceon ant and has the value 241 ameter c is cons 2024.02.04 19:14 | Specified z Ling Path 2 " 10 w[u|2|s Section of a display screen where a straight line segment is tobe plotted, starting from the pixel at column 10 on scan line 11 sof 0 4s) eo | 5 | 52 | 63 Figure 3-6 Section of a display screen ‘where a negative slope line segment is to be plotted, starting from the pixel at column 50 on scan line 50 109ction of the screen grid owing a pixel in ColuM can tive yy that is to be ottes! along the path of gment with slope me) istances between pixel ositions and the line y yordinate at sampling psition xt rive eaateutatione (an pe LEthe [will bo oirviateat (ny the feet \ avy th palvol at yy AE (Mat i dy eds thon ae Wwe plot the lower pixel) atherwive, af pixel poaition and pixel at yy tyclower to the tine path th cision paranwter py be negatives fy (hat cite WRG GE ae va dy elven the eon yah Cootinate clang / Wwe can obtain the valtiee af atcceaatve cleeiilon paranetens AL atop A+ 4 the decision parameter | along the Hive aecue (te ni ate) rections, Therefore using ineremental integer eateutations evaluated from Hq 12 a ptracting Bq. 2-12 fron the preceding equation, we have Prove P= BAyor a) = DANY = But ayo, © a + 1, ao that 2 Pees = pet By = 2A = Yad en ‘ where the term yjy > yy eelther 0 or t, depending on the sign of parameter py This recuraive calculation of decialon pa ger position, starting at the left coordinate enctpoint of the line The fret para rnvter, Po, {8 evaluated (ron Ha. de12 at the starting piel position (yy, yo) andl with movaltuated ay Ay/AN ameter ts performed at each inte py = 2dy = Ax Ww We can summarize Bresenham line drawing fora line with a positive slope han 1 in the following Hated steps, The constants 24y and 2Ay culated onee for each line to be sean converted, #0 the arithmetic Involves only Nc! subtraction of theve two constants AV are cal Algorithm for Lal <1 Input the two line enelpoints and store the left endpoint tn (xy Yo) Loacl (yi ya) Into the frame buffer; that ts, plot the firat point Calculate constants Ax, Ay, 2Ay, ancl 24y = 24x, anc obtain the start ing value for the decision parameter an ne Po 2dy = Ax % » starting at K = 0, perform the following teat If, <0, the next point to plot is (xy +k 1, yy) and Parr py 2dy Otherwise, the next point to plot ia (x #1, ys + I) and Phos ® pat 2dy = 2x 5. Repeat step 4 Ax times, 2024.02.04 19:14on Section 3-2 Line-Drawing Algorithms To illustrate the algorithm, we digiti ‘ 18). This line has a slope of 0.8, with the line with endpoints (20, 10) and (30, The initial decision parameter has the value Po = 2Ay — Ax a and the increments for calculating successive decision parameters are 2dy=16, 2Ay—2Ax= -4 Ye plot the initial point (x, ya) = (20, 10), and determine successive pixel posi- tions along the line path from the decision parameter as 0 6 (21, 11) 5 6 (26, 15) 1 2 (22, 12) 6 2 (27, 16) 2 = (23, 12) 7 2 (28, 16) Bi 14 (24, 13) 8 14 (29,17) 4 10 (25, 14) 9 10, (30, 18) A plot of the pixels generated along this line path is shown in Fig. 3. ‘An implementation of Bresenham line drawing for slopes in the range 0 < <1 is given in the following procedure. Endpoint pixel positions for the line « passed to this procedure, and pixels are plotted from the left endpoint to the zht endpoint. The call to set Pixel loads a preset color value into the frame butfer at the specified (x, y) pixel position. jevice-h” aude void lineBres (int xa, int ya, int xb, int yb) ine dx = abs (xa — 2b) Gy oP p= 2 * ay - Pyoy = 2 * dy, twopyDx = 2 * (dy = ael7 x, y, xend; /* pevemmine which-point to uselanie°#x/ whi culam saga | (xa > xb) 6 x = xb; y = ybr end = x8; else { 2024.02.04 19:14 uuChapter 3 Output Primitives y= ya | xiind = xb; ) setPixel (x, y) | while (x < xEnd) ( | if (p < 0) | p += twoby; | else ( | yee | += twoyDx; jetPixel (x, y) ) ) Bresenham’s algorithm is generalized to lines with arbitrary slope by con- sidering the symmetry between the various octants and quadrants of the plane. For a line with positive slope greater than 1, we interchange the roles of the x and y directions. That is, we step along the y direction in unit steps and cal- culate successive x values nearest the line path. Also, we could revise the pro- gram to plot pixels starting from either endpoint. If the initial position for a line with positive slope is the right endpoint, both x and y decrease as we step from right to left, To ensure that the same pixels are plotted regardless of the starting endpoint, we always choose the upper (or the lower) of the two candidate pixels whenever the two vertical separations from the line path are equal (d, = d,). For negative slopes, the procedures are similar, except that now one coordinate de- creases as the other increases. Finally, special cases can be handled separately: Horizontal lines (Ay = 0), vertical lines (Ax = 0), and diagonal lines with |Ax| = |Ay| each can be loaded directly into the frame buffer without processing them through the line-plotting algorithm. ine-generating algorithms we have discussed so far determine pixel posi- Sequentially. With a parallel computer, we can calculate pixel positions Figure 3-9 Pixel positions along the line path LTT between endpoints (20, 10) and |20 21 22 25 30 (30, 18), plotted with Bresenham’s line algorithm, 2024.02.04 19:14osi- jons along a line path simultaneously by partitioning the computations a nong the various processors available, One approach to the F rtitioning problem is to adapt an existing sequential algorithm to take advantage of multiple processors. Alternatively, we can look for other ways to set up the processing so that pixel positions can be calculated efficiently in parallel, An important consideration in devising a parallel algorithm is to balance the processing load among, the avail- able processors, Given n, processors, we can set up a parallel Bresenham line algorithm by subdividing the line path into n, partitions and simultaneously generating line segments in each of the subintervals. For a line with slope 0 0, — if, y) is outside the circle boundary The circle-function tests in 3-28 are performed for the midpositions between pix- els near the circle path at each sampling step. Thus, the circle function is the deci- sion parameter in the midpoint algorithm, and we can set up incremental calcu- lations for this function as we did in the line algorithm Figure 3-15 shows the midpoint between the two candidate pixels at sam- pling position x, + 1, Assuming we have just plotted the pixel at (x, yi), we next need to determine whether the pixel at position (x, + 1, y,) or the one at position (+ 1, yk = 1) is closer to the circle. Our decision parameter is the circle function 3-27 evaluated at the midpoint between these two pixels: ae fa +1 yi 3) (3-29) = t+ (4 phon If p: <0, this midpoint is inside the circle and the pixel on scan line ysis closer to the circle boundary. Otherwise, the midposition is outside or on the circle bound- ary, and we select the pixel on scanline y_ — 1 Successive decision parameters are obtained using incremental calculations. We obtain a recursive expression for the next decision parameter by evaluating the circle function at sampling position x,,; + 1 =a + 2: (_ 1 Pron = fora ion + Leis = 5 =(%+)+IP+ (0 i or Pes = Pet 20+ D+ Yh — YD ~ Vir yd +1 (3-30) ere p41 is either yp OF Y-1, depending on the sign of p. Tent ments for oblaining Piss are either 2x4. + 1 Gf py is negative) or 2ris1 +1 — 24.1, Evaluation of the terms 2x;,1 and 2yxs1 can also be done incremen- tally as Dirge = Wye +2 2Ysrr = ye — 2 f have the values 0 and 2r, respectively. At the start position (0, 7), these two terms Bach guccesive value is obtained by adding 2 to the previous value of 2x and subtracting 2 from the previous value of 2y. “ Sn aed parameter is obtained by evaluating the circle function at the start position (xo yo) = (0,7): POP ROO Md) “ x ayia “ Midpoint % my mt TMH? Figure 3-15 Midpoint between candidate pixels at sampling position +1 along circular path. 9P r 3-31) Po= a If the radius r is specified as an integer, we can simply round ps to Po=1l-r (forran integer) since all increments are integers. As in Bresenham’s line algorithm, the midpoint method calculates pixel po- sitions along the circumference of a circle using integer additions and subtrac: tions, assuming that the circle parameters are specified in integer screen coordi- nates, We can summarize the steps in the midpoint circle algorithm as follows. Midp. t Circle Algorithm the circumference of a circle centered on the origin as = (0,7) or Yo 2. Calculate the initial value of the decision parameter as eB At each x; position, starting at k = 0, perform the following test: If Pt <0, the next point along the circle centered on (0, 0) is (x+y, ) and Pest = P+ 2eeey +1 Se, the next point along the circle is (x + 1, yp — 1) and Pest = P+ 2eey +1 — 2ysey + 2and 2y,,, aine symmetry = 2y, 2. 4 Ds ts Points in the other seven octants. ziculated pixel position (x, y) onto the circular path cen- ered on (x, y,) and plot the coordinate values: Faxth yoyty, 6. Repe ps3 through 5 until POP ORO LA) 1. Input radius r and circle center (x,, y,), and obtain the first point on Gr detey r= For the (0, 10),y a 10 9 8 Fe 7 6 a 4 le 4 = | Figure 3-16 J +4 a Selected pixel positions (solid 2 7 circles) along a circle path with Ine radius r = 10 centered on the origin, Ls using the midpoint circle algorithm. ole x Opencircles show the symmetry ° 123456786910 positions in the first quadrant. Given a circle radius r = 10, we demonstrate the midpoint circle algorithm by determining positions along the circle octant in the first quadrant from x = 0 to x = y. The initial value of the decision parameter is po=1-r= -9 For the circle centered on the coordinate origin, the initial point is (xa, yo) = (0, 10), and initial increment terms for calculating the decision parameters are 2x0 2yo = 20 Successive decision parameter values and positions along the circle path are cal- culated using the midpoint method as k Pe (ese Yer) Xt 2 Yi Cr) (1,10) Dy 20 1 5 (2, 10) 4 20 2 = (3, 10) 6 20 3 6 (4,9) 8 18 a) 6,9) 10 18 5 8 6,8) 12 16 6 5 (7,7) 14 14 plot of the generated pixel positions in the first quadrant is shown in Fig. 3-16. is st bilevel monitor using ing procedure displays a raster circle on a bile he a8 fe eae Input to the procedure are the coordinates for the circle cae mic paitthe cadius, Intensities for pixel positions along the circle eircumfer~ ence are loaded into the frame-buffer array with calls to the set Pixel routine. POP Ree LA) Section 3-5 Circle-Generating Algorithnaay i ; center, int radius) t ints (int, int, int, int): | y+ plot fret eet of points */ CirclePlotPoints (xCenter, yCenter, x, y)7 while (x 0, if (x,y) is outside the ellipse boundary Thus, the ellipse function faps(%, y) serves as the decision parameter in the mid- point algorithm. At each sampling position, we select the next pixel along the el- lipse path according to the sign of the ellipse function evaluated at the midpoint between the two candidate pixels Starting at (0, r,), we take unit steps in the x direction until we reach the boundary between region 1 and region 2 (Fig, 3-20). Then we switch to unit steps in the y direction over the remainder of the curve in the first quadrant. At each step, we need to test the value of the slope of the curve. The ellipse slope is calcu- lated from Eq. 3-37 as dy _ _ 2x dx ory (3:39) At the boundary between region 1 and region 2, dy/dx = —1 and 2k ory Therefore, we move out of region 1 whenever 2rBx = Ody (3-40) f Figure 3-21 shows the midpoint between the two candidate pixels at sam: pling position 2 + 1 in the first region. Assuming position (x,y) has been se- lected at the previous step, we determine the next position along the ellipse path by evaluating the decision paramet i i side ting the decision parameter (that is, the ellipse function 3-37) at this Pla fan “tn 3) 4 7 G41) = Hay + w+ n(y= 5) =r If pl; <0, the m Pl: < 0, the midpoint is inside the ellipse and the pixel on scan line y; is closer to the ellipse boundary. Ot siti indary. Otherwise, the midpositio i boundary, and we select the pixel on scan lines oe de on le POP ROP AOL ad |)At the next sampling position (1,, + 1 for region 1 is evaluated as % + 2), the decision parameter Pies = faapad Seas + 1, Yes i) = iG, +1) 4 1F + Ay, Pies = Ply + 2h, + 1) + +Al(: where ys41 is either ys or 4 — 1, depending on the sign of pl, Decision parameters are incremented by the following amounts: 2p +, fp, <0 increment = rae de 2h +h 2iy itp =0 As in the circle algorithm, increments for the decision parameters can be calcu- lated using only addition and subtraction, since values for the terms 2r2x and 2rly can also be obtained incrementally. At the initial position (0, r,), the two terms evaluate to 2}x=0 3-43) 2rby = 2rr, oy ‘As x and y are incremented, updated values are obtained by adding 2r} to 3-43 and subtracting 2r? from 3-44. The updated values are compared at each step, and we move from region 1 to region 2 when condition 3-40 is satisfied In region 1, the initial value of the decision parameter is obtained by evalu- ating the ellipse function at the start position (x, 4) = (0, r,) Pe han s= 5) 3-45) Over region 2, we sample at unit steps in the negative y direction, and the dpoint is now taken between horizontal pixels at each step (Fig. 3-22). For this zion, the decision parameter is evaluated as P= fae + 3, 4-1) 2 =A(n + 3) + yf FLOP NOP ROL zd |-) Figure 3-21 Midpoint between candidate pixels at sampling position +1 along an elliptical path. 125Chapter 3 ‘Output Primitives Fi 3-22 7 elliptical path. +2 x omtth e boundary, and we select the tion is outside the ellipse oe se ee at is inside or on the ellipse : os at 1. If p2 <0, the mi rae pesleteite the relationship between successive decision paramety a ° a at ellipse function at the next sampling step y,,, <4. region 2, we evalua no? { 1 1) psd Mien + reer — 1) on = rif + a + ly, — )-1P ~ 127? i 1/1" (a+ oa -(s3 5)| G4) iii stteither to 2 or tom + 1, depending on the sign of p2, When ¥ ton (%9, ya) is taken as the last post " parameter in region 2 is then d the initial decisio, G49) ar Xel positions in counterclock ; © taken in the positive y de nerate an ellipse in nonstal nd ‘alculating pixel positions 'd reorient the ellipse axes ‘cussed in Chapter 5, appli mons, then convert calculated lipse orientation, ven in integer screen coordh a * fo determine values for the i fhe ts The increments 72, 2 >rocedure, A summary of tie PLeP OPO MLA |) Mid 1. In ae: 3. At in an the 5. At Gy 7. Me terMidpoint Ellipse Algorithm 1, Input r,, ry, and ellipse center (x,, y,), ee ea and obtain the first point on an (% yo) = ,7,) Calculate the initial value of the decision parameter in region 1 as 1 Plo=—y +27? 3. At each x; position in region 1, starting at k = 0, perform the follow- ing test: If pl; < 0, the next point along the ellipse centered on (0, 0) is Gis yi) and Plast = Pla + 23tien +75 Otherwise, the next point along the circle is (x; + 1, y: — 1) and Plast = Pla + 23m — 2h +7 with Qt = 2m + 2R, Wye = Wy. — 2G and continue until 23x = 2r2y. 4, Calculate the initial value of the decision parameter in region 2 using the last point (xo, yq) calculated in region 1 as. ¢, ae 2 272 nat 5) +12 Qo— Wt ~ 139} 5, At each yp position in region 2, starting at k = 0, perform the follow- ing test: If p2,> 0, the next point along the ellipse centered on (0, 0) is (i ye— and peer = Pe — 2riYeer + Otherwise, the next point along the circle is (x + 1, yx ~ 1) and Peer = pe + Wher — Wye + using the same incremental calculations for x and y as in region 1. 6. Determine symmetry points in the other three quadrants. 7. Move each calculated pixel position (x, y) onto the elliptical path cen- tered on (x, y,) and plot the coordinate values: xaxtt yryt¥e 8. Repeat the steps for region 1 until 2rjx = 2ray- _& Repeat the steps for ee ______ PLOP OPO Med |) Section 3-6 ETipse Generating Algorithms 127