On implicit surfaces and their intersection curves in Euclidean

4-space
H.S.Abdel-Aziz, M.Khalifa Saad, A. A. Abdel Salam
Mathematics Department, Faculty of Science, Sohag University, Egypt.
habdelaziz2005@yahoo.com, mohamed_khalifa77@hotmail.com
Abstract. In the present paper, we worked with implicit surfaces in Euclidean 4-space 1
1
for computing the dierential geometry properties of their tangential intersection curve. These
properties include Frenet apparatus (the tangent 1, the principle normal `, the binormal
vectors (1
1
. 1
2
) and the curvatures (i
1
. i
2
. i
S
). Moreover, we give some examples to explain
our main results.
Keywords. Euclidean 4-space, intersection problem, tangential intersection curve, Frenet
frame.
MCS(2000). 53A04; 53A05.
1 Introduction
The intersection problem is a fundamental process needed in modeling complex shapes in
CAD/CAM system.It is useful in the representation of the design of complex objects, in
computer animation and in NC machining for trimming o the region bounded by the self-
intersection curves of oset surfaces. The numerical marching method is the most widely used
method for computing intersection curves in 1
S
. The Marching method involves generation of
sequences of points of an intersection curve in the direction prescribed by the local dierential
geometry [4. 17].
In dierential geometry of curves, there are many important properties and consequences.
In the light of the existing studies, researchers always introduce new curves. Although, the
dierential geometry of curves in 1
S
can be found in many textbooks [5. 7. 13. 18. 20] and in
the contemporary literature on geometric modeling [8. 12. 17], there is little literature in 1
S
and hardly in 1
4
and 1
n
in the study of dierential geometry of intersection curves. Some
intersection curves have been studied by many geometers [1. 2. 3. 6. 10. 11. 14. 19. 21] and ob-
tained some interesting results. In [20] Willmore describes how to obtain the unit tangent 1,
the unit principal normal ` and the unit binormal 1 , as well as the curvature i and the
torsion t of the intersection curve of two implicit surfaces(,(r. . .) = 0. q (r. . .) = 0) in 1
S
,
using the operator .where = `
d
ds
=
_
/
1
@
@x
. /
2
@
@y
. /
S
@
@z
_
. / = \, . \q. In [11] Hartmaun
provides formulas for computing the curvature i of the intersection curves for all three types of
intersection problems in 1
S
(Parametric-Parametric, implicit-implicit and parametric-implicit),
1
using the implicit function theorem. Besides, the authors in [21] provide 1. `. 1. i. t for an
intersection curve c using the vector c
00
as linear combination of the normal vectors of the
surfaces and c
000
as linear combination of the tangent vector and normal vectors of the surfaces.
They also provide an algorithm for the evaluation of higher-order derivatives for transversalas
as well as tangential intersections for all three types of intersection problems in 1
S
. Moreover,
in [10] , Goldman provides formulas for computing the curvature i and torsion t of intersection
curve of two implicit surfaces in 1
S
and the curvature i of the intersection curve in (: + 1)
dimentions.
Same in 4-dimension to derive the curvatures i
2
and i
S
was done in [6]. In [1],the author
presented algorithms for computing all the dierential geometry properties of intersection im-
plicit curves and derived in 1
1
for three implicit surfaces, the unit tangent vector 1, normal
vector `, binormal vectors (1
1
. 1
2
)and curvatures i
1
. i
2
. i
S
for transversal intersections, using
the implicit function theorem.
In the present paper, we work with one of the important classes of surfaces which are called
the implicit surfaces in a four- dimensional Euclidean space 1
1
.
2 Geometric preliminaries
In this section, we introduce some notations and important facts about theory of curves in 1
1
that we are needed in our study.
Consider o 1
1
be a regular surface and : 1 1 o be the curve parametrized by the
arc-length parameter :. Let 1(:). `(:). 1
1
(:). 1
2
(:)be the orthonormal frame along ,where
1(:) is the unit tangent vector eld, `(:) principal normal vectore, 1
1
(:) rst binormal vector
and 1
2
(:) is the second binormal vector eld which is the unique unit.vector eld perpendicular
to three dimensional subspace 1(:). `(:). 1
1
(:). The vectors 1. `. 1
1
. and 1
2
in this order
form a right-handed system. The Frenet-Serret equations are given by [9]
_

_
1

(:)
`

(:)
1

1
(:)
1

2
(:)
_

_
=
_

_
0 i
1
(:) 0 0
i
1
(:) 0 i
2
(:) 0
0 i
2
(:) 0 i
S
(:)
0 0 i
S
(:) 0
_

_
_

_
1(:)
`(:)
1
1
(:)
1
2
(:)
_

_
. (2.1)
where the functions i
1
(:). i
2
(:) and i
S
(:) are the rst, second and third curvatures of the
curve (:).
The vector product of three vectors A = (r
1
. r
2
. r
S
. r
1
). 1 = (
1
.
2
.
S
.
1
) and 2 =
2
(.
1
. .
2
. .
S
. .
1
)belong to 1
1
is dened by
A 1 2 =

c
1
c
2
c
S
c
1
r
1
r
2
r
S
r
1

1

2

S

1
.
1
.
2
.
S
.
1

. (2.2)
3 Tangential intersection of three implicit surfaces
In this section, we will study the dierential geometric properties for the tangential intersection
curve of three regular implicit surfaces in 1
1
.For this curve, we derive the tangent 1, the
principal normal `, the binormal vectors (1
1
. 1
2
) as well as the curvaturs (i
1
. i
2
. i
S
).We start
as follows:
Denition 3.1
An intersection point j of three regular implicit surfaces (r
1
. r
2
. r
S
. r
1
) = 0. (r
1
. r
2
. r
S
. r
1
) =
0 and (r
1
. r
2
. r
S
. r
1
) = 0 in the Euclidean 4-space is called tangential intersection point if the
normal vectors of the three surfaces at j satisfy the properity
:
()
,,:
(4)
,,:
(+)
.
where
:
()
=
_
| _ |
. :
(4)
=
_
| _ |
. :
(+)
=
_
| _ |
.
_ ,= 0. _ ,= 0. _ ,= 0.
_ = (
J
Jr
1
.
J
Jr
2
.
J
Jr
S
.
J
Jr
1
). _ = (
J
Jr
1
.
J
Jr
2
.
J
Jr
S
.
J
Jr
1
). _ = (
J
Jr
1
.
J
Jr
2
.
J
Jr
S
.
J
Jr
1
).
The symbols _. _ and _ are the gradient vectors of the meaning surfaces.
Consider (r
1
) be a curve which is parametrized by the variable r
1
and generated by the
intersection of . and at the tangential point j.
So, at the point j, we have
_((r
1
))
| _((r
1
)) |
=
_((r
1
))
| _((r
1
)) |
.
_((r
1
))
| _((r
1
)) |
=
_((r
1
))
| _((r
1
)) |
. (3.1)
Let j
1
and j
2
be scalar functions given by
j
1
=
| _((r
1
)) |
| _((r
1
)) |
. j
2
=
| _((r
1
)) |
| _((r
1
)) |
.
then, Eq.(3.1) can be written as
_((r
1
)) = j
1
_((r
1
)). _((r
1
)) = j
2
_((r
1
)). (3.2)
3
3.1 Tangent and speed of the intersection curve (r
1
)
The intersection curve (r
1
) is given from
(r
1
) = (r
1
. r
2
(r
1
). r
S
(r
1
). r
1
(r
1
)). = 0. = 0. = 0.

x
1
= j
1

x
1
.
x
2
= j
1

x
2
.
x
3
= j
1

x
3
.
x
4
= j
1

x
4
.

x
1
= j
2

x
1
.
x
2
= j
2

x
2
.
x
3
= j
2

x
3
.
x
4
= j
2

x
4
. (3.3)
and then the derivatives of (r
1
) with respect to r
1
are

(r
1
) = (1.

r
2
(r
1
).

r
S
(r
1
).

r
1
(r
1
)).

(r
1
) = (0.

r
2
(r
1
).

r
S
(r
1
).

r
1
(r
1
)).

(r
1
) = (0.

r
2
(r
1
).

r
S
(r
1
).

r
1
(r
1
)).
(1)
(r
1
) = (0. r
(1)
2
(r
1
). r
(1)
S
(r
1
). r
(1)
1
(r
1
)).

()
(r
1
) = (0. r
()
2
(r
1
). r
()
S
(r
1
). r
()
1
(r
1
)). (3.4)
With these derivatives, one can obtain
_

= 0. _

= 0. _

= 0.
where
_ = [
x
1
((r
1
))
x
2
((r
1
))
x
3
((r
1
))
x
4
((r
1
))].

= [

r
1

r
2

r
S

r
1
]
T
. (3.5)
If we project the vector

onto the normals of the surfaces . and ,we get

(r
1
). _((r
1
) = j
1

(r
1
). _((r
1
).

(r
1
). _((r
1
) = j
2

(r
1
). _((r
1
). (3.6)
The Hessian matrices of the functions . and are given as follows
H
1
=
_

11

12

1S

11

12

22

2S

21

1S

2S

SS

S1

11

21

S1

11
_

_
. H
2
=
_

11

12

1S

11

12

22

2S

21

1S

2S

SS

S1

11

21

S1

11
_

_
. H
S
=
_

11

12

1S

11

12

22

2S

21

1S

2S

SS

S1

11

21

S1

11
_

_
.
(3.7)
where
i j
=
x
i
x
j
; i. , = 1. .... 4.
In this regards, one can write
_

T
H
1

. _

T
H
2

. _

T
H
S

. (3.8)
Now, from (3.6) and (3.8), we have

T
(H
1
j
1
H
2
)

= 0. (3.9)
4

T
(H
1
j
2
H
S
)

= 0. (3.10)
In a matrix form, Eq.(3.9) can be written as
_

_
1

r
2

r
S

r
1
_

_
_

11
j
1

11

12
j
1

12

1S
j
1

1S

11
j
1

11

12
j
1

12

22
j
1

22

2S
j
1

2S

21
j
1

21

1S
j
1

1S

2S
j
1

2S

SS
j
1

SS

S1
j
1

S1

11
j
1

11

21
j
1

21

S1
j
1

S1

11
j
1

11
_

_
_
1

r
2

r
S

r
1
_
= 0.
(3.11)
Explicitely, it becomes
(
22
j
1

22
)

r
2
2
+ (
SS
j
1

SS
)

r
S
2
+ (
11
j
1

11
)

r
1
2
+ 2(
2S
j
1

2S
)

r
2

r
S
+2(
21
j
1

21
)

r
2

r
1
+ 2(
S1
j
1

S1
)

r
S

r
1
+ 2(
12
j
1

12
)

r
2
+ 2(
1S
j
1

1S
)

r
S
+2(
11
j
1

11
)

r
1
+ (
11
j
1

11
) = 0. (3.12)
Since _

= 0, we have

x
1
+
x
2

r
2
+
x
3

r
S
+
x
4

r
1
= 0. (3.13)
which yields

r
2
=

x
1
+
x
3

r
S
+
x
4

r
1

x
2
.
x
2
,= 0. (3.14)
Substituting from (3.14) in (3.12), we get
c
11

r
S
2
+ c
12

r
1
2
+ 2c
1S

r
S

r
1
+ 2c
11

r
S
+ 2c
1

r
1
+ c
16
= 0. (3.15)
where
c
11
= [
2
S
(
22
j
1

22
) +
2
2
(
SS
j
1

SS
) 2
2

S
(
2S
j
1

2S
)].
c
12
= [
2
1
(
22
j
1

22
) +
2
2
(
11
j
1

11
) 2
2

1
(
2S
j
1

2S
)].
c
1S
= [2
S

1
(
22
j
1

22
) 2
2

1
(
2S
j
1

2S
) 2
2

S
(
21
j
1

21
)
+2
2
2
(
S1
j
1

S1
)].
c
11
= [2
1

S
(
22
j
1

22
) 2
1

2
(
2S
j
1

2S
) 2
2

S
(
12
j
1

12
)
+2
2
2
(
1S
j
1

1S
)].
c
1
= [2
1

1
(
22
j
1

22
) 2
2

1
(
21
j
1

21
) 2
2

1
(
12
j
1

12
)
+2
2
2
(
11
j
1

11
)].
c
16
= [
2
1
(
22
j
1

22
) 2
1

2
(
12
j
1

12
) +
2
2
(
11
j
1

11
)]. (3.16)
Similarly, from (3.10), we obtain
5
/
11

r
S
2
+ /
12

r
1
2
+ 2/
1S

r
S

r
1
+ 2/
11

r
S
+ 2/
1

r
1
+ /
16
= 0. (3.17)
with
/
11
= [
2
S
(
22
j
2

22
) +
2
2
(
SS
j
2

SS
) 2
2

S
(
2S
j
2

2S
)].
/
12
= [
2
1
(
22
j
2

22
) +
2
2
(
11
j
2

11
) 2
2

1
(
2S
j
2

2S
)].
/
1S
= [2
S

1
(
22
j
2

22
) 2
2

1
(
2S
j
2

2S
) 2
2

S
(
21
j
2

21
)
+2
2
2
(
S1
j
2

S1
)].
/
11
= [2
1

S
(
22
j
2

22
) 2
1

2
(
2S
j
2

2S
) 2
2

S
(
12
j
2

12
)
+2
2
2
(
1S
j
2

1S
)].
/
1
= [2
1

1
(
22
j
2

22
) 2
2

1
(
21
j
2

21
) 2
2

1
(
12
j
2

12
)
+2
2
2
(
11
j
2

11
)].
/
16
= [
2
1
(
22
j
2

22
) 2
1

2
(
12
j
2

12
) +
2
2
(
11
j
2

11
)]. (3.18)
The solution of Eq.(3.17) gives

r
S
=
(/
1S

r
1
+ /
11
)
_

11

r
1
2
+ 2
12

r
1
+
1S
/
11
. (3.19)
where

11
= (/
2
1S
/
11
/
12
).
12
= (/
1S
/
11
/
11
/
1
).
1S
= (/
2
11
/
11
/
16
).
Substituting from(3.19) in (3.15), we obtain the quadric equation
1
11

r
1
2
+ 21
12

r
1
+ 1
1S
= 0. (3.20)
where 1
11
. 1
12
. 1
1S
depend on the coecients c
1j
. /
1j
; , = 1...6.
Now, from Eq.(3.20). we get

r
1
=
1
12

_
1
2
12
1
11
1
1S
1
11
. (3.21)
Under the above calculations, we have obtained

(r
1
) =
_

r
1
.

r
2
.

r
S
.

r
1
_
;
6

r
1
= 1.

r
2
=

x
1
+
x
3

r
S
+
x
4

r
1

x
2
.

r
S
=
(/
1S

r
1
+ /
11
)
_

11

r
2
1
+ 2
12

r
1
+
1S
/
11
.

r
1
=
1
12

_
1
2
12
1
11
1
1S
1
11
.
Since the tangent 1 and the speed are given by, respectively
1(r
1
) =

(r
1
)
|

(r
1
) |
. =|

(r
1
) |.
then, from Equs. (3.14), (3.19) and (3.21), they were determind.
In what follows, we will present the following important results according to the discriminant

1
=
2
12

11

1S
c:d
2
= 1
2
12
1
11
1
1S
.
Lemma 3.1. The point j of the intersection curve (r
1
) is a branch point if the condition:

1
= 0.
2
0.
is satised.
Lemma 3.2. The point j is an isolated contact point of the intersected surfaces . and
if the following:

1
= 0.
2
< 0.
is hold.
Lemma 3.3. The surfaces . and are intersecting at the point j and at its neigh-
bourhood if

1
= 0.
2
= 0 and 1
2
11
+ 1
2
12
+ 1
2
1S
,= 0.
in this case, we get a tangential intersection curve.
Lemma 3.4. The surfaces . and have contact of at least second order at the point
j if
1
= 0. 1
11
= 1
12
= 1
1S
= 0.
and we get a highr-order contact point.
3.2 Curvatures of the intersection curve
Here, our interest is to calculate the rst curvature of . So, we project the vector

(r
1
) onto
the normals of the three surfaces . and and using the relations
_ = j
1
_. _ = j
2
_.
As we have seen
_

T
H
1

. _

T
H
2

.
7
then, we have
_

= j
1
_

. _

= j
2
_

. (3.22)
With respect to r
1
, we obtain
_

= 3

T
H
1

T
((_H
1
)

. _

= 3

T
H
2

T
((_H
2
)

. (3.23)
From (3.22) and (3.23), one can write
3

T
H
1

T
((_H
1
)

= j
1
(3

T
H
2

T
((_H
2
)

).
In a simple form
3

T
(H
1
j
1
H
2
)

T
((j
1
_H
2
_H
1
)

. (3.24)
With a similar way, from (3.8) and (3.10), we get
3

T
(H
1
j
2
H
S
)

T
((j
2
_H
S
_H
1
)

. (3.25)
Equs.(3.24) and (3.25) can be written in the form
_

_
3

T
(H
1
j
1
H
2
)
3

T
(H
1
j
2
H
S
)
_
_

_
_

r
2

r
S

r
1
_

_
=
_

T
((j
1
_H
2
_H
1
)

T
((j
2
_H
S
_H
1
)

T
H
2

_
.
or
_

r
2

r
S

r
1
_

_
=
1

T
((j
1
_H
2
_H
1
)

T
((j
2
_H
S
_H
1
)

T
H
2

_
; [ [, = 0. (3.26)
where
=
_

_
3

T
(H
1
j
1
H
2
)
3

T
(H
1
j
2
H
S
)
_
_

_
. (3.27)
8
Under the above, we can deduce that
i
1
=
_
`.

_
|

|
2
;

(r
1
) = (0.

r
2
(r
1
).

r
S
(r
1
).

r
1
(r
1
)).
` =
1
1
1
2

| 1
1
1
2

|
. 1
1
=
1
2

| 1
2

|
. 1
2
=

|
. (3.28)
Also, as in the above technique of the rst curvature of , we can compute the second
curvature i
2
by projecting
(1)
onto the normals of . and .In this case, we have
_

r
2

r
S

r
1
_

_
=
1
. (j + ) . (3.29)
where
j =
_

_
6

T
((_(j
1
H
2
H
1
)

+ 3

T
(j
1
H
2
H
1
)

T
((_(j
2
H
S
H
1
)

+ 3

T
(j
2
H
S
H
1
)

T
H
2

_
. =
_

T
(_((_(j
1
H
2
H
1
)

T
(_((_(j
2
H
S
H
1
)

T
((_H
2
)

_
.
with
=
_

_
4

T
(H
1
j
1
H
2
)
4

T
(H
1
j
2
H
S
)
_
_

_
. [ [, = 0.
From which, the second curvature is
i
2
=
_
1
1
.

_
|

|
S
i
1
;

(r
1
) = (0.

r
2
(r
1
).

r
S
(r
1
).

r
1
(r
1
)). (3.30)
A similar treatment can be applied to obtain the third curvature i
S
if we project
()
onto
9
the normals of . . and some straightforward calculations give
_

_
r
(1)
2
r
(1)
S
r
(1)
1
_

_
= :
1
.
_

_
_
_
_
_
15

T
((_(j
1
H
2
H
1
)

+ 10

T
(j
1
H
2
H
1
)

15

T
((_(j
2
H
S
H
1
)

+ 10

T
(j
2
H
S
H
1
)

T
H
2

_
_
_
_
+
_
_
_
_
10

T
(_((_(j
1
H
2
H
1
))

10

T
(_((_(j
2
H
S
H
1
))

T
H
2

_
_
_
_
+
_
_
_
_
10

T
((_(j
1
H
2
H
1
))

10

T
((_(j
2
H
S
H
1
))

T
((_H
2
)

_
_
_
_
+
_
_
_
_

T
(_(_((_(j
1
H
2
H
1
))

T
(_(_((_(j
2
H
S
H
1
))

T
(_((_H
2
)

_
_
_
_
. [:[ , = 0
_

_
. (3.31)
where
: =
_

_
5

T
(H
1
j
1
H
2
)
5

T
(H
1
j
2
H
S
)
_
_

_
.
In the end, we have the third curvature in the form
i
S
=

1
2
.
(1)
_
|

|
1
i
1
i
2
;
(1)
(r
1
) = (0. r
(1)
2
(r
1
). r
(1)
S
(r
1
). r
(1)
1
(r
1
)). (3.32)
4 Examples
Example 4.1. Consider the intersection curve of the three implicit surfaces

1
(r
1
. r
2
. r
S
. r
1
) =
r
2
1
0.6
2
+
r
2
2
0.8
2
+
r
2
S
1
2
+
r
2
1
1
2
1 = 0.

1
(r
1
. r
2
. r
S
. r
1
) =
r
2
1
0.9
2
+
r
2
2
0.8
2
+
r
2
S
0.25
2
+
r
2
1
1.5
2
1 = 0.

1
(r
1
. r
2
. r
S
. r
1
) =
r
2
1
0.3
2
+
r
2
2
0.8
2
+
r
2
S
1.2
2
+
r
2
1
1
2
1 = 0.
These surfaces are intersecting tangentially at the point 1 = (0. 0.8. 0. 0), and then at this
point we obtain
j
1
= 1. j
2
= 1.
c
11
=
1200
32
. c
12
=
125
18
. c
1S
= c
11
= c
1
= 0. c
16
=
4375
162
.
/
11
=
275
72
. /
12
= /
1S
= /
11
= /
1
= 0. /
16
=
625
6
.
10
It leads to

1
= 0 and
2
0.
This means that 1 is a branch point.
The speed, the unit tangent vector and the curvatures of the intersection curve are given
from
=

.

= (1. 0. 10
_
3
11
.
1
3
_
14965
11
).
1 =

(r
1
)
|

(r
1
) |
= (
3
2
_
11
4441
. 0. 15
_
3
4441
.
1
2
_
14965
4441
)

= (0.
126528
891
. 0. 0).

= (0. 0. 0. 0).
(1)
= (0. 0. 0. 0).
: = (0. 1. 0. 0). i
1
=
31632
39969
. i
2
= 0. i
S
= 0.
Example 4.2. Let us the intersection curve for the given three implicit surfaces

2
(r
1
. r
2
. r
S
. r
1
) = (r
2
1
+ r
2
2
+ r
2
S
+ r
2
1
+ 3)
2
16(r
2
1
+ r
2
2
+ r
2
1
) = 0.

2
(r
1
. r
2
. r
S
. r
1
) = (r
2
1
+ r
2
2
+ r
2
S
+ r
2
1
+ 2)
2
9(r
2
1
+ r
2
2
+ r
2
1
) = 0.

2
(r
1
. r
2
. r
S
. r
1
) = r
2
1
+ r
2
2
+ r
2
S
+ r
2
1
1 = 0.
Specially, if we choose r
S
= r
1
= 0. we nd that
:
()
,,:
(4)
,,:
(+)
.
and
j
1
=
2(r
2
1
+ r
2
2
5)
(2r
2
1
+ 2r
2
2
5)
. j
2
= 2(r
2
1
+ r
2
2
5).
c
11
= 64r
2
2
(r
2
1
+ r
2
2
5)
2
_
(7r
2
1
+ 7r
2
2
+ 5)
(2r
2
1
+ 2r
2
2
5)
_
. c
1i
= 0. i = 2...6.
/
11
= 512r
2
2
(r
2
1
+ r
2
2
5)
2
. /
1j
= 0. , = 2...6.
From which

1
=
2
= 0.
Thus, these surfaces are intersecting at a point on the tangential intersection curve. So, we
have
1 =
(r
2
. r
1
. 0. 0)
_
r
2
1
+ r
2
2
. : =
(r
1
. r
2
. 0. 0)
_
r
2
1
+ r
2
2
. i
1
=
1
_
r
2
1
+ r
2
2
. i
2
= i
S
= 0.
11
5 Conclusion
This paper is devoted to determine the Frenet apparatus (1. `. 1
1
. 1
2
. i
1
. i
2
. i
S
) of the tan-
gential intersection curve of three regualr implicit surfaces in 4-dimensional Euclidean space
1
1
. Furthermore, two examples are presented to explain the results.
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