Robert McNeel & Associates Creative

Commons Attribution-Share Alike 3g.0 United States License

Grasshopper
Rhino Script GH Robert McNeel
& Associates Grasshopper
script

Rajaa Issa Robert McNeel &

Associates NCF F(x)
NCF
Tong Flora Wen

Rajaa Issa Robert McNeel & Associates

wahlim.bryan.shih@gmail.com

Bryan Shih
GSAPP Columbia University
Aug 21st 2011

ii

3D

Rhinoceros (Rhino) Grasshopper (GH)

www.rhino3d.com www.grasshopper3d.com .

NURBS
NURBS
Robert McNeel and Associates Greg Arden
Robert McNeel and Associates
Margaret Becker
University of Texas at Arlington2010 2 Tex-Fab event

Rajaa Issa
Robert McNeel & Associates

iii

1 ....................................................................................................................................................1
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2 ............................................................................................................................................. 16
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3 ...................................................................................................................................... 22
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NURBS .......................................................................................................................................... 31
NURBS ............................................................................................................................... 33
NURBS .......................................................................................................................................... 36
NURBS ............................................................................................................................... 37
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iv

v = <a1, a2>

v = <a1, a2, a3>

anchor points

X 5.18

v = <5.18, 0, 0>

1Grasshopper unit x-axis 2Grasshopper number slider

3Grasshopper Rhino v1v2v3 v4
4Grasshopper vector display

v = < a1, a2, a3 > a1, a2, a3

A(x,y,z) B(x+a1, y+a2, z+a3) v
Grasshopper
x,y,z point
P0 = (1,2,3)

Grasshopper xyz vector

v = <2,2,2>
P1 v
P1 = (1+2, 2+2, 3+2) = (3,4,5)
Grasshopper vector display
P1

P0 (0,0,0) v = <a1,a2,a3>
P0 P1
P0 = (0,0,0)
P1 = (a1,a2,a3)
v= < a1, a2, a3 >(0,0,0)
(a1, a2, a3)

Grasshopper P1

a b a+b

a = <a1, a2, a3>

b = <b1, b2, b3>
a+b = <a1+b1, a2+b2, a3+b3>
a<1, 2, 0> b<4, 1, 4> a+b=<5, 3, 4>

Grasshopper a b
a+b

Grasshopper :

5
GH vector addition

1
Grasshopper

|a| a a = <a1, a2, a3>

|a| = sqrt(a12 + a22 +a32)

Grasshopper function

Grasshopper vector L

9
GH vector

a = <a1, a2, a3> t=

a*t = <a1*t, a2*t, a3*t >
Grasshopper

10

ab c s t :
1. a + b = b + a
2. a +0= a
3. s(a+b)= sa +sb
4. st(a)= s(ta)
5. a+(b + c)=(a+b)+ c
6. a + (-a)=0
7. (s + t)a = sa + ta
8. 1* a = a

a = <a1, a2, a3>

b = <b1, b2, b3>
a.b = a1*b1 + a2*b2 + a3*b3
Grasshopper vector dot product
a.b

11

Grasshopper vector dot product

12
GH vector dot product

-1 +1

a.a =|a|2

a = <a1, a2, a3>

a.a = a1*a1+a2*a2+a3*a3

a.a =a12+a22+a32

|a| = sqrt(a12 + a22 +a32)

a.a = |a|2
Grasshopper

13

a.b =|a||b|cos(),
cos()= a.b / (|a||b|)

a b
cos()= a.b

ABC
|AB|2 = |CA|2 + |CB|2 -2|CA||CB|cos()
:
|a-b|2 = |a|2 + |b|2 -2|a||b|cos() ---(1)
|AB|2 |a-b|2
|a-b|2 =(a-b).(a-b)
= a.a -a.b -b.a + b.b
=|a|2 -2a.b +|b|2 ---(2)
(1) (2)
|a|2 -2a.b +|b|2
= |a|2 + |b|2 -2|a||b|cos()

2a.b = 2|a||b|cos()
:
cos()= a.b / (|a||b|)
a.b = 0 a b

Grasshopper x
v v x

14

ab c s :
1. a . a =| a |2
2. a .(b + c)= a . b + a . c
3. 0. a =0
4. a . b = b . a
5. (sa). b = s(a . b)= a .(sb)

a = <a1, a2, a3>

b = <b1, b2, b3>
a X b
i=<1,0,0>, j=<0,1,0> and k=<0,0,1>

a x b = i(a2*b3) + j(a3*b1) + k(a1*b2) -k(a2*b1) -i(a3*b2) -j(a1*b3)

a x b = <a2*b3 a3*b2, a3*b1 -a1*b3, a1*b2 -a2*b1>

Grasshopper vector cross product

15

16
GH cross product

a x b a b

a b
|a x b| = |a||b|sin()
a b
a b

|a x b| = sin()

10

GH cross product

17
GH

a = <1, 0, 0>
b = <0, 1, 0>
a x b = <0, 0, 1>
b x a = <0, 0, -1>
Rhino a X b a=b=
=

11

a x b = 0 a b

ab c s :
1. a X b = -b X a
2. (sa) X b = s(a X b) = a X (sb)
3. a X (b + c) = a X b + a X c
4. (a + b) X c = a X c + b X c
5. a . (b X c) = (a X b) . c
6. a X (b X c) = (a . c)b (a . b)c

1-

2-

3- 4-

Grasshopper
0 0

18

12

:
L =
v =
P0 =
r = r0 + a --- (1)
a = t * v --- (2)
12
r = r0 + t*v --- (3)
3
<x,y,z> = <x0,y0,z0> + <ta, tb, tc>
<x,y,z> = <x0+ta, y0+tb, z0+tc>

x = x0 + ta
y = y0 + tb
z = z0 + tc

P = P0 + tv
Grasshopper

19

13

P0P1P

aP0
bP1
vP0P1

a + v = b,
v=b-a
P = P0 + t*vt=0.5v=b-a

P = P0 + 0.5(b-a)
Grasshopper

20

t01P0P1

14

P0(x0,y0,z0 ) =
r0<x0,y0,z0> =P0
n<a,b,c>
=
P(x,y,z)
=
r<x,y,z>
=P

0
n.(r - r0) =0

<a,b,c><x-x0 , y-y0 , z-z0 > = 0

a(x-x0) + b(y-y0) + c(z-z0) = 0

Grasshopper

21

15

mn
m:
n :
M
dim(M) = [2,3]

M1 M2[2x4] [4x5] M1.M2

[2x5]

16

1.
dim(M1)=[axb], dim( M2)=[cxd], bc
2.
1,1
3.2

3,2

P' = P + V

P(x,y,z)
v<a,b,c>

P'(x) = x + a
P'(y) = y + b
P'(z) = z + c

14x1

17

P(2,3,1)v<2,2,2>
P= P + v = (2+2, 3+2, 1+2) = (4, 5, 3)

P(x,y)x,yb
x = d cos(a)
---(1)
y = d sin(a)
---(2)
x' = d cos(b+a) ---(3)
y' = d sin(b+a) --- (4)
3
4
x' = d cos(a)cos(b) - d sin(a)sin(b) ---(5)
y' = d cos(a)sin(b) + d sin(a)cos(b) ---(6)
1
2
x' = x cos(b) - y sin(b)
y' = x sin(b) + y cos(b)
1 z :

x b :

y b :

1 http://zh.wikipedia.org/zh-cn/%E9%BD%90%E6%AC%A1%E5%9D%90%E6%A0%87
18

OpenNURBS, Rhino (http://www.openNURBS.org),

, OnXform
, OnXform

Grasshopper

22

P' = (S) * P
:
P'.x = Sx * P.x
P'.y = Sy * P.y
P'.z = Sz * P.z

19

z
xy
xzy

yzx

xyz

GH

23

20

P(x,y,z) xy
Pxy(x,y,0), P xz Pxz(x,0,z) yz Pxz = (0,y,z)
2
,
xy NURBS

2 http://en.wikipedia.org/wiki/Projection_(linear_algebra)

21

t 3
0 1

x2 + y2 = r2
t
x = r cos(t)
y = r sin(t)

x/r = cos(t)
y/r = sin(t)

cos(t)2 + sin(t)2 = 1

(x/r)2 + (y/r)2 = 1, or x2 + y2 = r2

Hermite4 Bzier5
Hermite Bzier

3 http://en.wikipedia.org/wiki/Parametric_equation

4 http://en.wikipedia.org/wiki/Cubic_Hermite_spline
5 http://en.wikipedia.org/wiki/B%C3%A9zier_curve

22

10 Bezier

Hermite Bzier 4

Non
Uniform Rational B-Spline6 (NURBS)

6 http://en.wikipedia.org/wiki/Non-uniform_rational_B-spline
23

NURBS Rhino NURBS

x(t) = axt3 + bxt2 + cxt + dx

y(t) = ayt3 + byt2 + cyt + dy
z(t) = azt3 + bzt2 + czt + dz
Q(t)
Q(t) = C. T
T

24

G0

G1

G2

GN

abcd
GH scriptP
A=
L=

24

25

ABG0
ACG1
ADG2G1

G0G1G2

26

A
B :
C0

0
0
0
CMC

0 CMC

27

BzierDe Casteljau7
De CasteljauPaul De CasteljauBzier

GrasshopperDe Casteljaut

A, B, C, D
t0-1

ABtM
BCtN
CDtO
MNtP
NOtQ
PQtR

25
GH Bzier

Grasshopper De Casteljau Bzier

t 0 1 Bzier

7De Casteljauhttp://en.wikipedia.org/wiki/De_Casteljau%27s_algorithm
28

26
De Casteljau Bzier

NURBSDe Boor8
De BoorBzierDe Casteljau
NURBSDe Boor9NURBS

7P0P6

u0 = 0.0
u1 = 0.0
u2 = 0.0
u3= 0.25
u4 = 0.5
u5 = 0.75
u6 = 1.0
u7 = 1.0
u8 = 1.0

u=0.4

8De Boorhttp://en.wikipedia.org/wiki/De_Boor's_algorithm
9

http://www.cs.mtu.edu/~shene/COURSES/cs3621/NOTES/spline/de-Boor.html
29

1.
Ac = (u u1) / ( u1+3 u1) = 0.8
Bc = (u u2) / ( u2+3 u2) = 0.53
Cc = (u u3) / ( u3+3 u3) = 0.2

2.
A = 0.2P1 + 0.8P2
B = 0.47 P2 + 0.53 P3
C = 0.8 P3 + 0.2 P4

3.
Dc = (u u2) / (u2+3-1 u2) = 0.8
Ec = (u u3) / (u3+3-1 u3) = 0.3

4.
D = 0.2A+ 0.8B
E = 0.7B + 0.3C

5.
Fc = (u u3)/ (u3+3-2 u3) = 0.6

6. u=0.4
F= 0.4D + 0.6E
Grasshopper De Boor NURBS u=0.4

27
De Boor

30

NURBS
NURBS
(http://en.wikipedia.org/wiki/NURBS)NURBS
NURBS
NURBS

Rhino 1 5
5
1NURBS
=2=+1

2NURBS

=3

3 NURBS

=4

NURBS +1NURBS

Grasshopper

31

NURBS3D
SDKSoftware Development Kit

-1

1.
2.

32

=3
=7
=(0,0,0,1,2,3,5,5,5)

=3
=7
=(0,0,0,1,1,1,4,4,4)
:

SDK
(m_t(0))
(m_t(1))

NURBS
NURBS
3
+1

NURBS

33

34

vs NURBS

NURBS

28
NURBS

29
NURBS

4+

35

30
2 NURBS

NURBS 1 NURBS
Grasshopper

31
NURBS

NURBS
NURBS NURBS
NURBS u v

36

32
NURBS

NURBS NURBS

NURBS

33
NURBS

NURBS

NURBS
NURBS NURBS NURBS
3
u v +1
u v

NURBS NURBS
NURBS

37

u v 1

u 3 v 1

u 3 v 1

38

u 3 v 1

NURBS
uv
brep
brep
brep

34
NURBS

39

35
NURBS

NURBS

NURBS

40

41

Edward Angel, "Interactive Computer Graphics with OpenGL, Addison Wesley

Longman, Inc., 2000.
James D Foley, Steven K Feiner, John F Hughes, "Introduction to Computer Graphics"
Addison-Wesley Publishing Company, Inc., 1997.
James Stewart, "Calculus," Wadsworth, Inc, 1991.
Kenneth Hoffman, Ray Kunze, Linear Algabra, Prentice-Hall, Inc., 1971
Rhinoceros help document, Robert McNeel and Associates, 2009.

42

2D coordinate system

multiple transformations

3D coordinate system

non- rational

affine transformations

normal curvature

anchor point

NURBS curves

NURBS

average direction

NURBS surfaces

NURBS

Bzier curve

Bzier

order

clamped (open) curve

orthogonal

closed (non-periodic) curve

parametric curves

closed periodic curve

parametric surfaces

coefficient

piecewise cubic curve

column

polyline

component

polysurfaces

constant mean curvature surface

position vector

contral point

principal curvatures

control point

projection

cubic polynomial curves

rational

curvature

real number

curve seam

reciprocal

De Boor algorithm

De Boor

recursive method

De Casteljau algorithm

De Casteljau

right-handed system

degree

rotation

determinant

row

dimension

scalar

full-multiplicity knot

scale

Gaussian curvature

shear

geometric continuity

simple knot

Hermite curve

Hermite

solid

homogenous coordinate

tangent line

iteration

tangent vector

kink

translation

knot

uniform knot vector

knot multiplicity

unit vector

knot vector

vector cross product

line-segment

vector dot product

matrices

vector length

matrix multiplication

vector mathematics

mean curvature

vector operations

minimal surface

weights

43