Ref: 1, 2
Outline
Hermite curves
Bezier curves
Catmull-Rom splines
Frames along the curve
Hermite Curves
3D curve of polynomial bases
Geometrically defined by position and
tangents of end points
Able to construct C1 composite curve
In CG, often used as the trace for
camera with Frenet frame, or rotation-
minimizing frame
Math …
h1(s) = 2s3 - 3s2 + 1
h2(s) = -2s3 + 3s2
h3(s) = s3 - 2s2 + s
h4(s) = s3 - s2
P(s) = P1h1(s) + P2h2(s) + T1h3(s) + T2h4(s)
At s = 0: P(0) = P1
h1 = 1, h2 = h3 = h4 = 0 P’(0) = T1
h1’ = h2’ = h4’ = 0, h3’ = 1
At s = 1: P(1) = P2
h1 = h3 = h4 = 0, h2 = 1 P’(1) = T2
h1’ = h2’ = h3’ = 0, h4’ = 1
C1 Composite Curve
P(t)
Q(t) R(t)
More on Continuity
Composite Curve
t1
t3
P(t)
Q(t) R(t)
t0 t2
Hodograph
Ex: cubic Bezier curve
2
P(t ) Bi , 2 (t )3Pi 1 Pi
d
dt i 0
P(0) 3P1 P0
P(1) 3P3 P2
tangent vector
Orthonormal
expansion
Frenet-Serret Formula (cont)
In general parameterization r(t)
x(s+Ds)
(s)