Matrix Form of CUBIC CURVE

Geometric Form of CUBIC CURVE

Tangent Vectors
(x0, y0, z0)
(x1, y1, z1)

Can be written as
(K0l0, k0m0,k0n0)
(K1l1, k1m1,k1n1)

(l0, m0, n0) are the direction cosines of tangent vector at start points.
(l1, m1, n1 ) are the direction cosines of tangent vector at end points.
Effect of increasing K0 & K1

Tangent Vectors

(k0l0, k0m0,k0n0)
(k1l1, k1m1,k1n1)
Effect of increasing K1 relative to K0
Four- Point Form

Input

Starting point (x0, y0, z0)

(x2/3, y2/3, z2/3)
End point (x1, y1, z1)

Two intermediate points (x1/3, y1/3, z1/3)

(x1/3, y1/3, z1/3) &

(x2/3, y2/3, z2/3)
(x0, y0, z0) (x1, y1, z1)
Four- Point Form

Algebraic Form to Four- Point Form

x = a3x u3 + a2x u2 + a1x u + a0x

y = a3y u3 + a2y u2 + a1y u + a0y
z = a3z u3 + a2z u2 + a1z u + a0z

Substitute u= 0, u = 1/3 u= 2/3 & u = 1.

Four- Point Form

x(u) = (-4.5u3+ 9u2 -5.5u +1) x0 + (13.5u3- 22.5u2

+ 9u) x1/3 + (-13.5u3- 18u2 - 4.5u) x2/3 + (4.5u3-
4.5u2 +u) x1
y(u) & z(u)
can be written in a similar manner.
BEZIER CURVE
A Bézier curve is a type of mathematical curve that is defined by a set
of control points.

It was named after the French engineer Pierre Bézier, who developed it
in the 1960s for use in automotive design at Renault.

It is an approximation curve.

It is used in computer graphics, computer-aided design (CAD),

animation, and various other fields.
CUBIC BEZIER CURVE

𝑷𝟏 𝑷𝟐
𝑷𝟏 𝑷𝟏

B(1/2)
𝑷𝟐
𝑷𝟎 𝑷𝟑

𝑷𝟎 𝑷𝟎

SIMPLE BEZIER CURVE QUADRATIC BEZIER CURVE CUBIC BEZIER CURVE

CUBIC BEZIER CURVE

𝑷𝟏 𝑷𝟐

Control Polygon

𝑷𝟑
𝑷𝟎
Input to Cubic Bezier Curve

First point P0 = (x0, y0, z0) - Starting Point

Second point P0 = (x1, y1, z1) - End Point
Third point P0 = (x2, y2, z2)
Fourth point P0 = (x3, y3, z3)

Order of points is important

Definition Polynomial

x(u) = (1-u)3 x0 + 3u(1-u)3 x1 + 3 u2(1-u)2 x2 + u3x3

y(u) = (1-u)3 y0 + 3u(1-u)3 y1 + 3 u2(1-u)2 y2 + u3y3

z(u) = (1-u)3 z0 + 3u(1-u)3 z1 + 3 u2(1-u)2 z2 + u3xz3

0≤u ≤1
Definition

x(u) = (1-u)3 x0 + 3u(1-u)3 x1 + 3 u2(1-u)2 x2 + u3x3

x(u) = 3C0(1-u)3 x0 + 3C1u(1-u)3 x1 + 3C2 u2(1-u)2 x2 + 3C3u3x3

y(u) = 3C0(1-u)3 y0 + 3C1u(1-u)3 y1 + 3C2 u2(1-u)2 y2 + 3C3u3y3

z(u) = 3C0(1-u)3 z0 + 3C1u(1-u)3 z1 + 3C2 u2(1-u)2 z2 + 3C3u3z3

x(u) = 3C ui(1−u)3−i x
i i
Forms
x(u) = 3C ui(1−u)3−i x
i i

Cubic

x(u) = 4C ui(1−u)4−i x
i i

Quartic

x(u) = 5C ui(1−u)5−i x
i i

Quintic

x(u) = nC ui(1−u)n−i x
i i

Generic
Properties of Cubic Bezier Curve
1.Tangents at end points are defined by the end points and there adjacent
points 𝑷𝟏 𝑷𝟐

𝑷𝟑
𝑷𝟎

2.Reversing the sequence of control points does not change the shape of the
curve
Properties of Cubic Bezier Curve
3.The curve is invariant under affine transformation

𝑸𝟏 𝑸𝟐

𝑷𝟏 𝑷𝟐
𝑸𝟑
𝑸𝟎

𝑷𝟑
𝑷𝟎