Unit 2 Bezier Curve

Computer Aided Design and Manufacturing
Course Code: ME-308

Instructor
Dr. Deepak Kumar
Room No: 116, Department of Mechanical Engineering
Email: deepakkumar@mmumullana.org
M#8059931047
Maharishi Markandeshwar University

Bezier Curves
Different choices of basis functions
give different curves
Choice of basis determines how the
control points influence the curve
In Hermite case, two control points
define endpoints, and two more define
parametric derivatives
For Bezier curves, two control
points define endpoints, and two
control the tangents at the
endpoints in a geometric way
Control Point Interpretation
Point along start tangent
x2
x3
End Point
x0 x2
Start Point Point along end Tangent

Bezier Curves of Varying Degree

Bzier Curves
Bzier 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.

Bzier Curves
In general, a Bzier 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 Bzier polynomial.

Coordinate points can be blended to produced the following position vector

P(u), which describes the path of an approximating Bzier polynomial function
between P0 and Pn.
n
P (u ) PB
i i ,n (u ),0 u 1 (10)
i 0
ere P(u) is any point on the curve and Pi is a control point. Bi,n are the Bernstein
ynomials. Thus, the Bezier curve has a Bernstein basis. The Bernstein polynomia
ves as the blending or basis function for the Bezier curve and given by
Bi ,n (u ) C (n, i )u i (1 u ) ni
Where C (n,i) is the binomial coefficient

n!
C ( n, i )
i !(n i )!

n
P (u ) PB
i i ,n (u ),0 u 1 (10)
i 0
Expanding Eq (10) and utilizing C(n,0)=C(n,n)
n 1
P(u ) P0 (1 u ) n PC
1 ( n,1)u (1 u ) P2C (n, 2)u 2 (1 u ) n2 .... Pn1C (n, n 1)u n1 (1 u ) Pnu n ,0 u 1
B0,3 (u ) (1 u )3 B1,3 (u ) 3u (1 u ) 2 B2,3 (u ) 3u 2 (1 u )
B3,3 (u ) u 3
P (u ) P0 B0,3 (u ) PB
1 1,3 (u ) P2 B2,3 (u ) P3 B3,3 (u )
P(u ) (1 u )3 P0 3u (1 u ) 2 P1 3u 2 (1 u ) P2 u 3 P3

The vertices of the Bezier polygon are numbered from 0 to n.
Properties of Bezier curve

- The basis functions are real.
- The degree of the polynomial defining the curve segment is one
less than the number of defining polygon points.

- The curve generally follows the shape of the defining
polygon.
- The first and last points on the curve are coincident with
the first and last points of the defining polygon.
- The tangent vectors at the ends of the curve have the
same direction as the first and last polygon spans,
respectively.
- The curve is contained within the convex hull of the
defining polygon, i.e., within the largest convex
polygon obtainable with the defining polygon vertices
- The curve is invariant under an affine transformation.

% Bezier curve for n=3.
u=0:.01:1;
x=[1 2 4 3];
y=[1 3 3 1];
px=(1-u).^3*x(1)+3*u.*(1-u).^2*x(2)+3*u.^2.*(1-
u)*x(3)+u.^3*x(4);
py=(1-u).^3*y(1)+3*u.*(1-u).^2*y(2)+3*u.^2.*(1-
u)*y(3)+u.^3*y(4);
plot(x,y); hold
plot(px,py,'r');
axis([0 4.2 0 3.2]);
X(u)
Y(u)

Example
u=0:.01:1;
x=[1 2 4 3];
y=[1 1 3 1];
px=(1-u).^3*x(1)+3*u.*(1-u).^2*x(2)+3*u.^2.*(1-
u)*x(3)+u.^3*x(4);
py=(1-u).^3*y(1)+3*u*(1-u).^2*y(2)+3*u.^2.*(1-
u)*y(3)+u.^3*y(4);
plot(x,y); hold
plot(px,py,'r');
axis([0 4.2 0 3.2]);

Example
u=0:.01:1;
x=[1 2 4 1];
y=[1 3 3 1];
px=(1-u).^3*x(1)+3*u.*(1-t).^2*x(2)+3*u.^2.*(1-
u)*x(3)+u.^3*x(4);
py=(1-u).^3*y(1)+3*u.*(1-u).^2*y(2)+3*u.^2.*(1-
u)*y(3)+u.^3*y(4);
plot(x,y); hold
plot(px,py,'r');
axis([0 4.2 0 3.2]);

Matrix formulation of Bezier Curve
Consider a cubic Bezier curve
P (u ) [ F ][G ] [U ][ N ][G ]
Where [F] is the blending matrix given by
[ F ] [ B0,n , B1,n ,.....Bn1,n , Bn ,n ]
[ F ][G ] (1 u )3 3u (1 u ) 2 3u 2 (1 u ) u 3 [ P0 P1 P2 P3 ]T
1 3 3 1 P0
3 6 3 0 P
P(u ) [ F ][G ] [U ][ N ][G ] u 3 u 2 u 1 1
3 3 0 0 P2

1 0 0 0 P3

trix formulation of Bezier Curve
We can extend this now to a quadratic, for n=4,

Bezier curve
P (u ) [ F ][G ] [U ][ N ][G ]
1 4 6 4 1 P0
4 12 12 4 0 P
1
P (u ) [ F ][G ] [U ][ N ][G ] u 4 u 3 u 2 u 1 6 12 6 0 0 P2

4 4 0 0 0 P3
1 0 0 0 0 P 4

B-Spline Basis: Motivation
Consider designing the profile of a vase.
The left figure below is a Bzier curve of degree 11; but, it is difficult to bend the "neck" toward the line segment
P4P5.
The middle figure above uses this idea. It has three Bzier curve segments of degree 3 with joining points marked
with yellow rectangles.
The right figure above is a B-spline curve of degree 3 defined by 8 control points .

Those little dots subdivide the B-spline curve into curve segments.
One can move control points for modifying the shape of the curve just like what we do to Bzier
curves.
We can also modify the subdivision of the curve. Therefore, B-spline curves have higher degree of
freedom for curve design.

Subdividing the curve directly is difficult to do. Instead, we subdivide the domain of the
curve.
The domain of a curve is [0,1], this closed interval is subdivided by points called knots.
These knots be 0 <= u0 <= u1 <= ... <= um <= 1.
Modifying the subdivision of [0,1] changes the shape of the curve.

In summary :to design a B-spline curve, we need a set of control
points, a set of knots and a set of coefficients, one for each control
point, so that all curve segments are joined together satisfying
certain continuity condition.

The computation of the coefficients is perhaps the most complex

step because they must ensure certain continuity conditions.

B-Spline Curves

B-Spline Curves
(Two Advantages)
1. The degree of a B-spline polynmial can
be set independently of the number of
control points.
2. B-splines allow local control over the

shape of a spline curve (or surface)

B-Spline Curves
(Two Advantages)
A B-spline curve that is defined by 6
control point, and shows the effect of
varying the degree of the polynomials
(2,3, and 4)
Q3 is defined by P0,P1,P2,P3

Each curve segment
shares control points.

B-Spline Curves
(Two Advantages)
The effect of changing the position of
control point P4 (locality
property).

B-Spline Curves
Bzier Curve B-Spline Curve

Curves and their

applications in design
B spline curves

The B-Spline
Two Major Limitations of the Bezier
Curves
1. Dependence on the number of
defining
polygon vertices
Hence the degree of the basis
function is fixed by
this
To increase or decrease the order
we need to
increase or decrease the no. of
P(u ) (1 polygon
u )3 P0 3vertices
u (1 u ) 2 P1 3u 2 (1 u ) P2 u 3 P3
2. No local control only global
control

B-Spline
How it is like the bezier
Approximates control points
Possesses Convex Hull Property
How it differs
Degree of polynomial is for the most
part
independent of the control points
Local control over spline shape
Local contorl acheieved by defining
blending functions
over subintervals of the total range of
t
Stronger Convex Hull Property
More complex than Bezier
Generally non-globa

Description of B-Spline
n
P (u ) PN
i i ,k (u ),0 u u max
i 0
k=degree
Can be 2 to the number of
control points
If k set to 1, then only a
plot of the control points
Bi is the input set of n+1 control
points
(polygon vertices)
Parameter t now depends on
how we
choose the other parameters (no
longer locked to 0-1)
N i,k blending functions
Polynomials of degree k-1at each
interval xi
B-Spline Basis Functions
(Knots, Knot Vector)
Let U be a set of m + 1 non-decreasing
numbers, u0 <= u2 <= u3 <= ... <= um. The ui's
are called knots,
The set U is the knot vector.

(Knots, Knot Vector)
U u , u , u , , u
0 1 2 m

The half-open interval [ui, ui+1) is the i-th knot
span.
Some ui's may be equal, some knot spans may
not exist.

(Knots)
U u , u , u , , u
0 1 2 m

If a knot ui appears k times (i.e., ui = ui+1 = ... = ui+k-1), where k >
1, ui is a multiple knot of multiplicity k, written as ui(k).
If ui appears only once, it is a simple knot.
If the knots are equally spaced (i.e., ui+1 - ui is a constant for 0
<= i <= m - 1), the knot vector or the knot sequence is said
uniform; otherwise, it is non-uniform.

All B-spline basis functions are supposed

to have their domain on [u0, um].
We use u0 = 0 and um = 1
frequently so that the domain is
the closed interval [0,1].

To define B-spline basis functions, we
need one more parameter.
The degree of these basis functions, p.
The i-th B-spline basis function of
degree p, written as Ni,p(u), is defined
recursively
1 if uas follows:
i u u i 1
N i ,0 (0)
0 otherwise
u ui ui p 1 u
N i , p (u ) N i , p 1 (u ) N i 1, p 1 (u )
ui p ui ui p 1 ui 1
1 if ui u ui 1
N i , 0 ( 0)
0 otherwise
u ui ui p 1 u
N i , p (u ) N i , p 1 (u ) N i 1, p 1 (u )
ui p ui ui p 1 ui 1
The above is usually referred to as the Cox-de Boor recursion formula.
If the degree is zero (i.e., p = 0), these basis functions are all step functions .
basis function Ni,0(u) is 1 if u is in the i-th knot span [ui, ui+1).
We have four knots u0 = 0,

u1 = 1, u2 = 2 and u3 = 3,
knot spans 0, 1 and 2 are
[0,1), [1,2), [2,3) and the
basis functions of degree 0
are N0,0(u) = 1 on [0,1) and
0 elsewhere, N1,0(u) = 1 on
[1,2) and 0 elsewhere, and
Maharishi Markandeshwar University N2,0(u) = 1 on [2,3) and 0
To understand the way of computing Ni,p(u) for p
greater than 0, we use the triangular computation
scheme.

To compute Ni,1(u), Ni,0(u) and Ni+1,0(u) are required. Therefore, we can
compute N0,1(u), N1,1(u), N2,1(u), N3,1(u) and so on. All of these Ni,1(u)'s are
written on the third column. Once all Ni,1(u)'s have been computed, we
can compute Ni,2(u)'s and put them on the fourth column. This process
continues until all required Ni,p(u)'s are computed.

Since u0 = 0, u1 = 1 and u2 = 2, the above becomes

Two Important
Observation

Two Important Observation
Basis function Ni,p(u) is non-zero on
[ui, ui+p+1). Or, equivalently, Ni,p(u) is
non-zero on p+1 knot spans [ui, ui+1),
[ui+1, ui+2), ..., [ui+p, ui+p+1).

Two Important Observation
On any knot span [ui, ui+1), at most p+1
degree p basis functions are non-zero,
namely: Ni-p,p(u), Ni-p+1,p(u), Ni-p+2,p(u), ..., Ni-
1,p(u) and Ni,p(u),


(Important Properties )

1 if u i u u i 1
N i , 0 (0)
0 otherwise
u ui u i p 1 u
N i , p (u ) N i , p 1 (u ) N i 1, p 1 (u )
ui p ui u i p 1 ui 1
1. Ni,p(u) is a degree p polynomial in u.
2. Non-negativity -- For all i, p and u, Ni,p(u) is

non-negative
3. Local Support -- Ni,p(u) is a non-zero

polynomial on [ui,ui+p+1)
4. On any span [ui, ui+1), at most p+1 degree p
basis functions are non-zero, namely: Ni-p,p(u),
Ni-p+1,p(u), Ni-p+2,p(u), ..., and Ni,p(u) .
5. The sum of all non-zero degree p basis

functions on span [ui, ui+1) is 1.
6. If the number of knots is m+1, the

degree of the basis functions is p, and
the number of degree p basis functions
is n+1, then m = n + p + 1
7. Basis function Ni,p(u) is a composite curve of degree
p polynomials with joining points at knots in [ui, ui+p+1
)
8. At a knot of multiplicity k, basis function Ni,p(u) is Cp-k

Increasing
continuous. multiplicity decreases
the level of continuity, and
increasing degree increases
continuity.

(Computation Examples)
Simple Knots
Suppose the knot vector is U = { 0, 0.25, 0.5, 0.75, 1 }.
Basis functions of degree 0 : N0,0(u), N1,0(u), N2,0(u) and N3,0(u) defined
on knot span [0,0.25,), [0.25,0.5), [0.5,0.75) and [0.75,1), respectively.

All Ni,1(u)'s (U = { 0, 0.25, 0.5, 0.75, 1 }(:
4u for 0 u 0.25
N (u )
2(1 2u ) for 0.25 u 0.5
0 ,1
4u 1 for 0.25 u 0.5

N1,1 (u )
3 u for 0.5 u 0.75
2(2u 1) for 0.5 u 0.75
N 2,1 (u )
4(1 u ) for 0.75 u 1
Since the internal knots 0.25, 0.5 and 0.75 are all simple
(i.e., k = 1) and p = 1, there are p - k + 1 = 1 non-zero
basis function and three knots. Moreover, N0,1(u), N1,1(u)
and N2,1(u) are C0 continuous at knots 0.25, 0.5 and
0.75, respectively.
From Ni,1(u)'s, one can compute the basis functions of
degree 2. Since m = 4, p = 2, and m = n + p + 1, we
have n = 1 and there are only two basis functions of
8u 2
degree 2: N (u) 0 u N0.25(u). (U = { 0, 0.25, 0.5, 0.75,
forand
0,2 1,2
N 0, 2 (u ) 1.5 12u 16u for 0.25 u 0.5
2
1 }(:
4.5 12u 8u for 0.5 u 0.75
2
0.5 4u 8u 2 for 0.25 u 0.5

N1, 2 (u ) 1.5 8u 8u 2 for 0.5 u 0.75
8(1 u ) 2 for 0.75 u 1

each basis function is a composite curve of three
degree 2 curve segments.
C1 continuity
composite curve is of
B-Spline Basis Functions (Computation Examples)
Knots with Positive Multiplicity :
Suppose the knot vector is U = { 0, 0, 0, 0.3, 0.5, 0.5, 0.6, 1, 1, 1{
Since m = 9 and p = 0 (degree 0 basis functions), we have n = m - p -
1 = 8. there are only four non-zero basis functions of degree 0: N2,0(u),
N3,0(u), N5,0(u) and N6,0(u).

B-Spline
Curves

B-Spline Curves
(Definition)
Given n + 1 control points P0, P1, ..., Pn and a knot vector U = { u0,
u1, ..., um }, the B-spline curve of degree p defined by these control

points and knot vector U is
n
C(u ) N i , p (u )p i , u 0 u u m p m n 1
i 0
The point on the curve that corresponds to a knot ui, C(ui), is referred
to as aknot point.
The knot points divide a B-spline curve into curve segments, each
of which is defined on a knot span.

B-Spline Curves
(Definition)
n
C(u ) N i , p (u )p i , u 0 u u m p m n 1
i 0
The degree of a B-spline basis function is an
input.
Tochange the shape of a B-spline curve, one can modify
one or more of these control parameters:
1. The positions of control points
2. The positions of knots
3. The degree of the curve

Unit 2 Bezier Curve

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Unit 2 Bezier Curve

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Computer Aided Design and Manufacturing

Course Code: ME-308

Maharishi Markandeshwar University

Point along start tangent

Maharishi Markandeshwar University

Maharishi Markandeshwar University

Maharishi Markandeshwar University

Maharishi Markandeshwar University

Coordinate points can be blended to produced the following position vector

Where C (n,i) is the binomial coefficient

Maharishi Markandeshwar University

Expanding Eq (10) and utilizing C(n,0)=C(n,n)

B0,3 (u ) (1 u )3 B1,3 (u ) 3u (1 u ) 2 B2,3 (u ) 3u 2 (1 u )

Maharishi Markandeshwar University

Properties of Bezier curve

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Maharishi Markandeshwar University

Maharishi Markandeshwar University

Maharishi Markandeshwar University

Maharishi Markandeshwar University

[ F ] [ B0,n , B1,n ,.....Bn1,n , Bn ,n ]

Maharishi Markandeshwar University

We can extend this now to a quadratic, for n=4,

Maharishi Markandeshwar University

Maharishi Markandeshwar University

Maharishi Markandeshwar University

Maharishi Markandeshwar University

Maharishi Markandeshwar University

The computation of the coefficients is perhaps the most complex

Maharishi Markandeshwar University

Maharishi Markandeshwar University

2. B-splines allow local control over the

Maharishi Markandeshwar University

shares control points.

Maharishi Markandeshwar University

Maharishi Markandeshwar University

Bzier Curve B-Spline Curve

Maharishi Markandeshwar University

Curves and their

Maharishi Markandeshwar University

Maharishi Markandeshwar University

Maharishi Markandeshwar University

Maharishi Markandeshwar University

Maharishi Markandeshwar University

Maharishi Markandeshwar University

All B-spline basis functions are supposed

Maharishi Markandeshwar University

We have four knots u0 = 0,

Maharishi Markandeshwar University

Maharishi Markandeshwar University

Since u0 = 0, u1 = 1 and u2 = 2, the above becomes

Maharishi Markandeshwar University

Maharishi Markandeshwar University

Maharishi Markandeshwar University

Maharishi Markandeshwar University

B-Spline Basis Functions

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1. Ni,p(u) is a degree p polynomial in u.

2. Non-negativity -- For all i, p and u, Ni,p(u) is

3. Local Support -- Ni,p(u) is a non-zero

5. The sum of all non-zero degree p basis

6. If the number of knots is m+1, the

8. At a knot of multiplicity k, basis function Ni,p(u) is Cp-k

Maharishi Markandeshwar University