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贝塞尔曲线原理及其算法实现
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为什么我们需要新形式的参数曲线?一个直接的答案是前面单元中讨 论的那些参数曲线不是很几何。更准确地说,给定这样的参数形式,如果不进行进一步分析, 就很难知道它所代表的基本几何形状。方程的系数没有任何几何意义,如果修改一个或多个 系数,几乎不可能预测形状的变化。因此,设计一条遵循特定轮廓的曲线非常困难。
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Bézier Curves 贝塞尔曲线
An Introduction 介绍
Our first question is: why do we need new forms of parametric curves? An immediate answer is
that those parametric curves discussed in the previous unit are not very geometric. More
precisely, given such a parametric form it is difficult to know the underlying geometry it
represents without some further analysis. The coefficients of the equations do not have any
geometric meaning, and it is almost impossible to predict the change of shape if one or more
coefficients are modified. As a result, designing a curve that follows certain outline is very
difficult.
我们的第一个问题是:为什么我们需要新形式的参数曲线?一个直接的答案是前面单元中讨
论的那些参数曲线不是很几何。更准确地说,给定这样的参数形式,如果不进行进一步分析,
就很难知道它所代表的基本几何形状。方程的系数没有任何几何意义,如果修改一个或多个
系数,几乎不可能预测形状的变化。因此,设计一条遵循特定轮廓的曲线非常困难。
In practice, designers or users usually do not care about the underlying mathematics (and
equations, of course). They are more or less focusing on getting their jobs done. To do so, a
system that supports users to design curves must be
在实践中,设计者或用户通常不关心底层数学(当然还有方程)。他们或多或少专注于完成
工作。为此,必须有一个支持用户设计曲线的系统
1. Intuitive 直观:
We expect that every step and every algorithm will have an intuitive and geometric
interpretation.
我们期望每一步和每一个算法都有一个直观和几何的解释。
2. Flexible 灵活:
The system should provide the users with more control for designing and editing the shape
of a curve. The way of creating and editing a curve should be easy, intuitive and geometric
rather than by manipulating equations.
系统应该为用户提供更多的控制来设计和编辑曲线的形状。创建和编辑曲线的方式应该
是简单、直观和几何的,而不是通过操纵方程。
3. Unified Approach 统一方法:
The way of representing, creating and editing different types of curves (e.g., lines, conic
sections and cubic curves) must be the same. That is, it does not require different
techniques for manipulating different curves (i.e., conics and cubics).
表示、创建和编辑不同类型曲线(如直线、圆锥曲线和三次曲线)的方式必须相同。也
就是说,它不需要不同的技术来处理不同的曲线(即圆锥曲线和三次曲线)。
4. Invariant 恒定:
The represented curve will not change its geometry under geometric transformations such
as translation, rotation and affine transformations.
表示的曲线在平移、旋转和仿射变换等几何变换下不会改变其几何形状。
5. Efficiency and Numerically Stability 效率和数值稳定性:
A user of a curve design system may not care about the beauty of the underlying geometry;
but, he/she expects the system to deliver the curve he/she wants fast and accurately.
Moreover, a large amount of computations will not "distort" the shape of the curve (i.e.,
numerical stability).
曲线设计系统的用户可能不关心底层几何的美感;但是,他/她希望系统能够快速准确
地提供他/她想要的曲线。此外,大量计算不会“扭曲”曲线的形状(即数值稳定性)。
This unit focuses on some techniques for curve design that can fulfill the above criteria. We shall
discuss Bézier curves here, and B-spline and NURBS curves in the next two units. The unified
theme of these techniques consists of the following advantages:
本单元重点介绍可以满足上述标准的曲线设计技术。我们将在这里讨论 贝塞尔曲线,并在
接下来的两个单元中讨论 B 样条和 NURBS 曲线。这些技术的统一主题包括以下优点:
1. A user layouts a set of control points for the system to come up with a curve that more
or less follows the trend of the set of control points.
用户为系统布置一组控制点,以得出或多或少遵循该组控制点趋势的曲线。
2. A user can change the positions of some control points and some other characteristics
for modifying the shape of the curve. No equation is required, because the equation of a
curve is usually not stored.
用户可以改变一些控制点的位置和一些其他特性来修改曲线的形状。不需要方程,因
为通常不存储曲线的方程。
3. If necessary, a user can add control points and other vital information without changing
the shape of the curve. In this way, a user has more freedom of editing a curve because
adding control points and other information increases the degree of freedom of the
curve.
如有必要,用户可以在不改变曲线形状的情况下添加控制点和其他重要信息。以这种
方式,用户在编辑曲线时具有更大的自由度,因为添加控制点和其他信息增加了曲线
的自由度。
4. A user can even break a curve into two pieces for "micro" editing and then join them
back into one piece.
用户甚至可以将曲线分成两部分进行“微”编辑,然后将它们重新组合成一个部分。
5. There are very geometric, intuitive and numerically stable algorithms for finding points
on the curve without knowing the equation of the curve.
有非常几何、直观和数值稳定的算法可以在不 知道曲线方程的情况下找到曲线上的
点。
6. Once you know curves, the surface counterpart is a few steps away. More precisely, the
transition from curve to surface will not cause much difficulty, since what you learn for
curves applies directly to surfaces.
一旦你知道曲线,表面对应物就在几步之外。更准确地说,从曲线到曲面的过渡不会
造成太大的困难,因为您从曲线中学到的知识直接应用于曲面。
We shall start with the most fundamental one in this unit: the Bézier curves. Bézier curves were
discovered simultaneously by Paul de Casteljau at Citroen and Pierre E. Bézier at Renault around
late 50s and early 60s. Basis splines, or B-splines for short, were known and studied by N.
Lobachevsky whose major contribution to mathematics is perhaps the so-called hyperbolic
(non-Euclidean) geometry in late eighteenth century. However, we shall adopt a modern version
developed by C. de Boor, M. Cox and L. Mansfield in late 70s. Note that Bézier curves are special
cases of B-splines.
我们将从本单元中最基本的一个开始:贝塞尔曲线。50 年代末和 60 年代初,雪铁龙的 Paul
de Casteljau 和雷诺的 Pierre E. Bézier 同时发现了贝塞尔曲线。N. Lobachevsky 知道并研究
了基样条,简称 B 样条,他对数学的主要贡献可能是 18 世纪后期所谓的双曲(非欧几里
得)几何。然而,我们将采用由 C. de Boor、M. Cox 和 L. Mansfield 在 70 年代后期开发的
现代版本。请注意,贝塞尔曲线是 B 样条曲线的特例。
Both Bézier curves and B-splines are polynomial parametric curves. As discussed in the previous
unit, polynomial parametric forms cannot represent some simple curves such as circles. As a
result, Bézier curves and B-splines can only represent what polynomial parametric forms can. By
introducing homogeneous coordinates making them rational, Bézier curves and B-splines are
generalized to rational Bézier curves and Non-Uniform Rational B-splines, or NURBS for short.
Obviously, rational Bézier curves are more powerful than Bézier curves since the former now can
represent circles and ellipses. Similarly, NURBS are more powerful than B-splines. The
relationship among these four types of curve representations is shown below.
贝塞尔曲线和 B 样条曲线都是多项式参数曲线。如上单元所述,多项式参数形式不能表示一
些简单的曲线,例如圆。因此,贝塞尔曲线和 B 样条只能表示多项式参数形式所能表示的。
通过引入使它们有理的齐次坐标,贝塞尔曲线和 B 样条被推广到有理贝塞尔曲线和非均匀有
理 B 样条,简称 NURBS。显然,有理贝塞尔曲线比贝塞尔曲线更强大,因为前者现在可以
表示圆形和椭圆。同样,NURBS 比 B 样条更强大。这四种曲线表示之间的关系如下所示。
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