Introduction

 Given such a parametric form, it is

difficult to know the underlying geometry
it represents without some further analysis.

 It is almost impossible to predict the

change of shape if one or more coefficient
are modified.
 Introduction
 Bézier, B-spline and NURBS curves advantage:
1. A user layouts a set of control points for the
system.
2. A user can change the positions of some control
points and some other characteristics for
modifying the shape of curve.
 Introduction
3. If necessary, a user can add control points.
4. They are very geometric, intuitive.
5. The transition from curve to surface will not
cause much difficulty.
Bézier
Curves
 Bézier Curves
Bézier splines are:
 spline approximation method;

 useful and convenient for curve and

surface design;
 easy to implement;

 available in Cad system, graphic package,

drawing and painting packages.

 Bézier Curves
 In general, a Bézier curve section can be fitted
to any number of control points.
 The number of control points to be
approximated and their relative position
determine the degree of the Bézier polynomial.
 Bézier Curves
 Given n+1 control point positions:
p k  ( xk , y y , z k )0k n
 These coordinate points can be blended to produced the
following position vector C(u), which describes the path
of an approximating Bézier polynomial function between
P0 and Pn.
n
C(u )   p k Bk ,n (u ), 0  u  1
k 0
 Properties
of
Bézier ‍Curves
 Properties of a Bézier ‍Curve
n
C(u )   p k Bk ,n (u ), 0  u  1
k 0

1. The degree of a Bézier curve defined by n+1

control points is n:

Parabola Curve Cubic Curve Cubic Curve

Cubic Curve
 Properties of a Bézier ‍Curve
2. The curve passes though the first and the last control point
C(u) passes through P0 and Pn.
 Properties of a Bézier ‍Curve
3. Bézier curves are tangent to their first and
last edges of control polyline.

2 7 4
6 5
1 3

3 8
2 0
5 8
9 6
0 4 10
1 7
 Properties of a Bézier Curve
4. The Bézier curve lies completely in the convex hull of the given control points.

 Note that not all control points are on the boundary of the convex hull. For example, control points 3, 4, 5, 6,
8 and 9 are in the interior. The curve, except for the first two endpoints, lies completely in the convex hull.
 Properties of a Bézier ‍Curve
5. Moving control points:
 Properties of a Bézier ‍Curve
5. Moving control points:
 Bézier Curves
6. The point that corresponds to u on the Bézier curve is the
"weighted" average of all control points, where the
weights are the coefficients Bk,n(u).

n
C(u )   p k Bk ,n (u ), 0  u  1
k 0
 Design Techniques Using Bézier ‍Curve
(Weights)
7. ‍Multiple control points at a single coordinate position gives more weight to that
position.
 Design Techniques Using Bézier ‍Curve
(Closed Curves)
8. ‍Closed Bézier curves are generated by specifying the first and the last control
points at the same position.

4
5 3

2 0
8
6
1 7

‍Note:
Note: Bézier curves are polynomials which cannot represent circles and ellipses.
 Properties of a Bézier Curve
9. If an affine transformation is applied to a Bézier curve, the result can be
constructed from the affine images of its control points.
Construction
of
Bézier ‍Curves
 Bézier Curves
 Given n+1 control point positions:
p k  ( xk , y y , z k ) 0  k  n
n
C(u )   p k Bk ,n (u ), 0  u  1
k 0
 The Bézier blending functions are the Bernstein polynomials:

k nk
Bk ,n (u )  C ( n, k )u (1  u )
 The C(n,k) are the binomial coefficients:
n!
C ( n, k ) 
k!(n  k )!
Cubic equation with four control points

P(t) = B0(1-t)3 + B13t(1-t)2 + B23t2(1-t) + B3t3

are control points)

(B0,B1,B2,B3

Example:
B0[1 0] , B1[3 3] , B2[6 3] , B3[8 1]
X(t) = [1](1-t)3 + [3]3t(1-t)2 + [6]3t2(1-t) + [8]t3 

Y(t) = [0](1-t)3 + [3]3t(1-t)2 + [3]3t2(1-t) + [1]t3   

Change the value of t from 0 to 1 by .1 and find the values

 Example
Cubic Bézier Curves
B (u )  C ( n, k )u (1  u )
k ,n
k n k

 Cubic Bézier curves are generated with four control points.

 The four blending functions for cubic Bézier curves (n=3):

3
B0,3 (u )  (1  u )
2 B
B1,3 (u )  3u (1  u ) 1, 3

2
B2,3 (u )  3u (1  u )
3
B3,3 (u )  u
 Cubic
Bézier Curves
 Cubic Bézier Curves
 Cubic Bézier curves gives reasonable design flexibility while avoiding the
increased calculations needed with higher order polynomials.
 Cubic Bézier Curves
n
C(u )   p k Bk ,n (u ), 0  u  1
k 0

B (u )  C ( n, k )u (1  u )
k ,n
k n k

 Cubic Bézier curves are generated with four control points.

 The four blending functions for cubic Bézier curves (n=3):

3
B0,3 (u )  (1  u )
B1,3 (u )  3u (1  u ) 2
2
B2,3 (u )  3u (1  u )
3
B3,3 (u )  u
 Cubic Bézier Curves
 At u=0, B0,3=1, and at u=1, B3,3=1. thus, the curve will
always pass through control points P0 and P3.
 The functions B1,3 and B2,3, influence the shape of the curve
at intermediate values of parameter u, so that the resulting
curve tends toward points P1 and P3.
 At u=1/3, B1,3 is maximum, and at u=2/3, B2,3 is maximum.
B0,3 (u )  (1  u ) 3
2
B1,3 (u )  3u (1  u )
B2,3 (u )  3u 2 (1  u )
B3,3 (u )  u 3

0  u 1
 Cubic Bézier Curves
 At the end positions of the cubic Bézier curve, The
parametric first and second derivatives are:
C(0)  3(p  2p ), C(1)  3(p  p )
1 0 3 2

C(0)  6(p 0  2p 1  p 2 ), C(1)  6(p 1  2p 2  p 3 )

 With C1 and C2 continuity between sections, and by expanding the polynomial
expressions for the blending functions: the cubic Bézier point function in the
matrix form:

p 0 
p 

C(u )  u 3 u 2 u 
1  M Bez   1 
p 2   1 3 3 1
   3 6
p 3   3 0
M Bez 
 3 3 0 0
 
 1 0 0 0
Bezier Surfaces
➢ Recall how we constructed a Bezier Curve
P(t) is a continuous function in 3 space defining the curve
with N discrete control points Bi. t=0 at the first control
point (i=0) and t=1 at the last control point (i=N).

t=1

P(t)

t=0
 As in the case of a Bezier curve, it is required to relax
strict requirements of cubic spline for a flexible design.
A Bezier surface provides this flexibility
 The Cartesian or tensor product Bezier surface is

B1 B2
represented as:
n m B0
B1 B2
i, j J n,i (u)K m, j (w)
Q(u, w)  ΣΣ
i0 j B
B0
0
B1 B2B 3

n! B2
J n,i (u)  i!(nui (1
i)! u)
ni
B0
B0
m!
K m, j (w)  j!(mwj (1
j)! w)
m j

B1
Bij are the vertices of the defining polygon net
Properties of Bezier Surfaces
➢The degree of the surface in each polynomial
direction is one less than the number of defining
polygon vertices in that direction
➢The continuity of the surface in each parametric
direction is two less than the number of defining
polygon vertices
➢The surface generally follows the shape of the
defining polygon net.
➢The surface is contained in the convex hull of the
polygon net.
➢The surface is invariant under an affine transform
➢Each of the boundary curve in this case is a Bezier
curve
Shape
Control D C

B0,3 B1,3 B2,3 B3,3 These vertices

influence the
B0,2 B1,2 B2,2 B3,2 twist vectors at
A, B, C, D
B1,1 B2,1
B0,1 B3,1
B0,0 B1,0 B2,0 B3,0
A B

These vertices
influence the
tangent vector
at A
➢ Matrix formulation of Bezier Surface
We can think of a matrix formulation now for Bezier surface. Consider a
similar formulation as used in Bezier curve

Q(u, w)  U NBM
Where 
UWU ... 1
U n1
1
T
n ...
n1
W  W
W… …
B0,m †
% ||
|
n B{ %
| |
{B0,0 |⎝Bn,0
… }
| Bn,m |J

…
➢ Matrix formulation of Bicubic Bezier Surface
We have 4X4 polygon net for a bicubic Bezier surface

J1 3  1]JB0,0 B0,1 B0,2 B0,3 ]

B1,3 |
Q(u, w)  u3 2
u

u 1 |3 |
|
0| | B1,0
B1,1 B1,2
|
|3 6 3 0||B2,0 B2,3 ||
⎝ || B2,1 BB2,2
B B
0 ]⎝B 3,0 3,3 ]
| 3 3 0
3,1 3,2
J1 3  3 1]Jw3 ]|
| |
0 w | 2| 1 0 0
n m

| || Q(u, w)  ΣΣ Bi, j Jn,i (u)Km, j (w)

0||| w |
3 6 3 || | i0 j 0
⎝ 0 ]|⎝1
|
3 3 0 |]
|
➢ Derivatives of a Bezier Surface
We find the derivatives w.r.t u,w and the cross derivative
n m

Q(u, w)  ΣΣ Bi, j Jn,i (u)Km, j (w)

i0 j 0 n m

Qu (u, w)  ΣΣ Bi, j Jn,i (u)Km, j (w)

i0 j 0 n m

Qw (u, w)  nΣΣ
m Bi, j Jn,i (u)Km , j (w)
i0 j 0

n m
Quw (u, w)  ΣΣ Bi, j Jn,i (u)Km , j (w)
i0 j 0
n m

Quu (u, w)  ΣΣ Bi, j Jn,i (u)Km, j (w)

i0 j 0