MATHEMATICAL

ELEMENTS
FOR
COMPUTER
GRAPHICS
Second Edition

David F. Rogers
Professor of Aerospace Engineering
United States Naval Academy, Annapolis, Md.

J. Alan Adams
Professor of Mechanical Engineering
United States Naval Academy, Annapolis, Md.

McGraw-Hill, Inc.
New York St. Louis San Francisco Auckland Bogota
Caracas Lisbon London Madrid Mexico Milan
Montreal New Delhi Paris San Juan Singapore
Sydney Tokyo Toronto

CONTENTS

rurewuru uu me r n s u n/uiuuu

Preface
Preface to the First Edition
;r 1
l-l
1-2
1-3
1-4
1-5
1-6
1-7
1-8
1-9

1-10
1-11
1-12
1-13
1-14
1-15
1-16
1-17
1-18
1-19
1-20
1-21
1-22
1-23

Introduction To Computer Graphics

Overview of Computer Graphics
Representing Pictures
Preparing Pictures For Presentation
Presenting Previously Prepared Pictures
Interacting with the Picture
Description of Some Graphics Devices
Storage Tube Graphics Displays
Calligraphic Refresh Graphics Displays
Raster Refresh Graphics Displays
Cathode Ray Tube Basics
Color CRT Raster Scan Basics
Video Basics
Flat Panel Displays
Electrostatic Plotters
Laser Printers
Dot Matrix Plotters
Ink Jet Plotters
Thermal Plotters
Pen and Ink Plotters
Color Film Cameras
Active and Passive Graphics Devices
Computer Graphics Software
References

XI

xiii
xvii
1
3
3
5
6
9
18
18
19
24
30
31
32
35
42
44
47
49
50
52
56
57
58
59
Vll

Vlll

MATHEMATICAL ELEMENTS FOR COMPUTER GRAPHICS

Chapter 2
2-1
2-2
2-3
2-4
2-5
2-6
2-7
2-8
2-9
2-10
2-11
2-12
2-13
2-14
2-15
2-16
2-17
2-18
2-19
2-20
2-21
2-22

Chapter 3
3-1
3-2
3-3
3-4
3-5
3-6
3-7
3-8
3-9
3-10
3-11
3-12
3-13
3-14
3-15
3-16
3-17
3-18

Two-Dimensional Transformations

61

Introduction
Representation of Points
Transformations and Matrices
Transformation of Points
Transformation of Straight Lines
Midpoint Transformation
Transformation of Parallel Lines
Transformation of Intersecting Lines
Rotation
Reflection
Scaling
Combined Transformations
Transformation of The Unit Square
Solid Body Transformations
Translations and Homogeneous Coordinates
Rotation About an Arbitrary Point
, Reflection Through an Arbitrary Line
Projection - A Geometric Interpretation of
Homogeneous Coordinates
Overall Scaling
Points At Infinity
Transformation Conventions
References

61
61
62
62
65
66
68
69
72
76
78
80
83
86
87
88
89
90
94
95
98
100

Three-Dimensional Transformations

101

Introduction
Three-Dimensional Scaling
Three-Dimensional Shearing
Three-Dimensional Rotation
Three-Dimensional Reflection
Three-Dimensional Translation
Multiple Transformations
Rotations About an Axis Parallel to a
Coordinate Axis
Rotation About an Arbitrary Axis in Space
Reflection Through an Arbitrary Plane
Affine and Perspective Geometry
Orthographic Projections
Axonometric Projections
Oblique Projections
Perspective Transformations
Techniques For Generating Perspective Views
Vanishing Points
Photography and The Perspective Transformation

101
102
106
107
113
115
115
117
121
128
132
135
141
151
157
171
179
185

CONTENTS

3-19
3-20
3-21
3-22

Chapter 4
4-1
4-2
4-3
4-4
4-5
4-6
4-7
4-8
4-9

4-10
4-11

Chapter 5
5-1
5-2
5-3
5-4
5-5
5-6
5-7

5-8
5-9

5-10
5-11
5-12
5-13
5-14

Chapter 6
6-1
6-2
6-3
6-4
6-5
6-6
6-7
6-8
6-9

IX

187

Stereographic Projection
Comparison of Object Fixed and Center of
Projection Fixed Projections
Reconstruction of Three-Dimensional Images
References

195
200
206

Plane Curves

207

Introduction
Curve Representation
Nonparametric Curves
Parametric Curves
Parametric Representation of a Circle
Parametric Representation of an Ellipse
Parametric Representation of a Parabola
Parametric Representation of a Hyperbola
A Procedure For Using Conic Sections
The General Conic Equations
References

207
207
209
211
215
218
223
227
231
231
246

Space Curves

247

Introduction
Representation of Space Curves
Cubic Splines
Normalized Cubic Splines
/
Alternate Cubic Spline End Conditions
ParabolicNBlending
Generalized Parabolic Blending
Bezier Curves
B-spline Curves
End Conditions For Periodic B-spline Curves
B-spline Curve Fit
B-spline Curve Subdivision
Rational B-spline Curves
References

247
248
250
267
271
278
284
289
305
339
346
351
356
375

Surface Description and Generation

379

Introduction
Surfaces of Revolution
Sweep Surfaces
Quadric Surfaces
Piecewise Surface Representation
Mapping Parametric Surfaces
Bilinear Surface
Ruled and Developable Surfaces
Linear Coons Surface

379
380
394
400
408
411
414
417
422

MATHEMATICAL ELEMENTS FOR COMPUTER GRAPHICS

6-10
6-11
6-12
6-13
6-14
6-15
6-16
6-17

Coons Bicubic Surface

Bezier Surfaces
B-spline Surfaces
B-spline Surface Fitting
B-spline Surface Subdivision
Gaussian Curvature and Surface Fairness
Rational B-spline Surfaces
References

426
435
445
456
458
461
465
477

Appendices

481

Appendix
Appendix
Appendix
Appendix
Appendix
Appendix
Appendix

Index

A
B
C
D
E
F
G

Computer Graphics Software

Matrix Methods
Pseudocode
B-spline Surface File Format
Problems
Programming Projects
Algorithms

481
503
507
513
517
527
541
599