Difference Geometry. Hans-Peter Schröcker. July 22 23, Unit Geometry and CAD University Innsbruck

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1 Difference Geometry Hans-Peter Schröcker Unit Geometry and CAD University Innsbruck July 22 23, 2010

2 Lecture 1: Introduction

3 Three disciplines Differential geometry infinitesimally neighboring objects calculus, applied to geometry Difference geometry finitely separated objects elementary geometry instead of calculus Discrete differential geometry modern difference geometry emphasis on similarity and analogy to differential geometry

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5 History H. Graf, R. Sauer, W. Wunderlich: didactic motivation emphasis on flexibility questions since 1995 U. Pinkall, A. I. Bobenko and many others: deep theory (arguably richer than the smooth case) development of organizing principles (Bobenko and Suris, 2008) connections to integrable systems applications in physics, computer graphics, architecture,...

6 Motivation for a discrete theory Didactic reasons: Rich theory: Applications: easily accessible and concrete requires little a priori knowledge (advanced calculus vs. elementary geometry) at least as rich as smooth theory clear explanations for mysterious phenomena in the smooth setting high potential for applications due to discretizations numerous open research questions

7 Overview Lecture 1: Introduction Lecture 2: Discrete curves and torses Lecture 3: Discrete surfaces and line congruences Lecture 4: Discrete curvature lines Lecture 5: Parallel nets, offset nets and curvature Lecture 6: Cyclidic net parametrization

8 Literature A. I. Bobenko, Yu. B. Suris Discrete Differential Geometry. Integrable Structure American Mathematical Society (2008) R. Sauer Differenzengeometrie Springer (1970) Further references to literature will be given during the lecture and posted on the web-page

9 Software Adobe Reader Recent versions that can handle 3D-data. Rhinoceros 3D-CAD; evaluation version (fully functional, save limit) is available at Geogebra Dynamic 2D geometry, open source. Download at Cabri 3D Dynamic 3D geometry. Evaluation version (restricted mode after 30 days) available at Maple Symbolic and numeric calculations. Worksheets will be made available in alternative formats. Asymptote Graphics programming language used for most pictures in this lecture.

10 Conventions for this lecture If not explicitly stated otherwise, we assume generic position of all geometric entities. Concepts from differential geometry are used as motivation. Results are usually given without proof. Concepts from elementary geometry are usually visualized and named. You can easily find the proofs on the internet. Concepts from other fields (projective geometry, CAGD etc.) will be explained in more detail upon request. Questions are highly appreciated.

11 An example from planar kinematics One-parameter motion α: I R SE(2), t α(t) = α t where and α t : Σ Σ, ( cos ϕ(t) α t (x) = sin ϕ(t) x α t (x) = x(t) ) ( ) ( ) sin ϕ(t) x 1 a + 1 (t) cos ϕ(t) x 2 a 2 (t)

12 The cycloid (circle rolls on line) y x ϕ(t) = t, a 1 (t) = t, a 2 (t) = 0 ( ) ( ) ( ) cos( t) sin( t) x α t (x) = 1 t + sin( t) cos( t) x 2 0 cycloid.pdf

13 Corresponding result from three positions theory Theorem (Inflection circle) The locus of points x such that the trajectory x(t) = α t (x) has an inflection point at t = t 0 is a circle. inflection-circle.mw Theorem Given are three positions Σ 0, Σ 1, and Σ 2 of a moving frame Σ in the Euclidean plane R 2. Generically, the locus of points x Σ such that the three corresponding points x 0 Σ 0, x 1 Σ 1, x 2 Σ 2 are collinear is a circle.

14 Corresponding result from three positions theory x 0 c 0 y 0 c 1 ω 2 ω 0 c 0 x c 2 c 0 y 2 c 1 x 2 y 1 x 1 c 2 ω 1 The line y 1 y 2 y 3 is the Simpson line to x. discrete-inflection-circle.3dm discrete-inflection-circle.ggb

15 Comparison Smooth theorem Formulation requires knowledge (planar kinematics, inflection point,... ) Proof requires calculus and algebra (differentiation, circle equation) Discrete theorem elementary formulation and proof smooth theorem by limit argument

16 The cycloid evolute Theorem The locus of curvature centers of the cycloid (its evolute) is a congruent cycloid cycloid.3dm

17 The discrete cycloid evolute Theorem (see Hoffmann 2009) n even: The locus of circle centers through three consecutive points of a discrete cycloid (its vertex evolute) is a congruent discrete cycloid. n odd: The locus of circle centers tangent to three consecutive edges of a discrete cycloid (its edge evolute) is a congruent discrete cycloid.

18 Literature Inflection circle: Chapter 8, 9 of Bottema and Roth (1990). Discrete cycloid: Hoffmann (2009) Simpson line: Bottema (2008). O. Bottema Topics in Elementary Geometry Springer (2008) O. Bottema, B. Roth Theoretical Kinematics Dover Publications (1990) T. Hoffmann Discrete Differential Geometry of Curves and Surfaces Faculty of Mathematics, Kyushu University (2009)

19 Lecture 2: Discrete Curves and Torses

20 Smooth and discrete curves Smooth curve: γ: I R R d, u γ(u), Regularity condition: dγ (u) = γ(u) 0 du Discrete curve: γ: I Z R d, i γ(i) =: γ i, Regularity condition: δγ i := γ i+1 γ i 0

21 Smooth and discrete curves Smooth curve: γ: I R R d, u γ(u), Regularity condition: dγ (u) = γ(u) 0 du Discrete curve: γ: I Z R d, i γ(i) =: γ i, Regularity condition: δγ i := γ i+1 γ i 0 Shift notation: γ i γ, γ i+1 γ 1, γ i 1 γ 1, for example δγ = γ 1 γ

22 Example Discuss the regularity of ( ) t sin t γ(t) = 1 cos t Solution ( ) 1 cos t γ(t) = = 0 t = 2kπ, k Z sin t

23 Example Derive a parametrization of the discrete cycloid and discuss its regularity. Solution γ k = (( ) ( )) k k (1 e il 2π 1 cos 2lπ n ) = n 0 sin 2lπ n l=0 l=0 γ k γ k 1 = 1 e ik 2π n = 0 k n Z

24 Tangent, principal normal, and bi-normal b i 1 n i 1 γ i 1 t i 1 b i n i n i+1 b i+1 γ i ϕ i γ i+1 t i 1 t i t i+1 tangent vector t := δγ/ δγ normal vector n t, n = 1, n parallel to γ 1 γ γ 1, same orientation of t 1 t and t n binormal vector b := t n discrete-frenet-frame.cg3 discrete-frenet-frame.3dm

25 Tangent, principal normal, and bi-normal b i 1 n i 1 γ i 1 t i 1 b i n i n i+1 b i+1 γ i ϕ i γ i+1 t i 1 t i t i+1 Definition The Frenet-frame is the orthonormal frame with origin γ and axis vectors t, n, b.

26 Tangent, principal normal, and bi-normal b i 1 n i 1 γ i 1 t i 1 b i n i n i+1 b i+1 γ i ϕ i γ i+1 t i 1 t i t i+1 Osculating plane: incident with γ, orthogonal to b Normal plane: incident with γ, orthogonal to t Rectifying plane: incident with γ, orthogonal to n

27 Smooth and discrete curvature Smooth curvature: Infinitesimal change of tangent direction with respect to arc length: γ(t) γ(t) κ(t) = γ(t) 3 Discrete curvature: κ := sin ϕ s where ϕ = (t 1, t), s = γ 1 γ Assume ϕ [0, π 2 ] or ϕ [ π 2, π 2 ] (in case of d = 2). We will later encounter different notions of curvature.

28 Smooth and discrete torsion Smooth torsion: Change of bi-normal direction with respect to arc length (measure of planarity ):... γ(t) γ(t), γ(t) τ(t) = γ(t) γ(t) 2 Discrete torsion: τ := sin ψ s where ψ = (b, b 1 ) assume ψ [ π 2, π 2 ] ψ 0 helical displacement of Frenet frame at γ 1 to Frenet frame at γ is a right screw τ 0 curve is planar

29 Infinite sequence of refinements Assume that all points γ are sampled from a smooth curve γ(s), parametrized by arc-length. Consider an infinite sequence of refinements γ i = γ(εi), ε 0. Curvature: κ κ(s) Torsion: τ τ(s) Frenet frame: t t(s) = γ(s) γ(s), n n(s), b b(s)

30 The fundamental theorems of curve theory Theorem Curvature κ(s) and torsion τ(s) as functions of the arc length determine a space curve up to rigid motion. Proof. Existence and uniqueness of an initial value problem for a system of partial differential equations. Theorem The three functions κ : Z [0, π 2 ] (curvature), τ: Z [ π π 2 2 ] (torsion), and s: Z R + (arc-length) uniquely determine a discrete space curve up to rigid motion. Proof. Elementary construction.

31 The fundamental theorems of curve theory Theorem Curvature κ(s) and torsion τ(s) as functions of the arc length determine a space curve up to rigid motion. Proof. Existence and uniqueness of an initial value problem for a system of partial differential equations. Corollary The two functions κ : Z [ π 2, π 2 ] (curvature) and s: Z R + (arc-length) determine a discrete planar curve.

32 Discrete Frenet-Serret equations t t 1 = (1 cos ϕ) t + sin ϕ n = 1 cos ϕ s t t 1 s = sin ϕ s = 1 cos ϕ s t (s) := dt t t 1 (s) = lim ds ε 0 s t + κ n tan ϕ 2 = κ tan ϕ 2 0 = lim ε 0 κ n = κ(s)n(s)

33 Discrete Frenet-Serret equations b 1 b = (cos ψ 1) b sin ψ n = cos ψ 1 s b 1 b s = sin ψ s = cos ψ 1 s τ n tan ψ 2 = τ tan ψ 2 0 b (s) := db b 1 b (s) = lim = lim τn = τ(s)n(s). ds ε 0 s ε 0

34 Smooth Frenet-Serret equations t (s) = κ(s)n(s), b (s) = τ(s)n(s) = n (s) := dn d(t b) (s) = (s) ds ds = t (s) b(s) t(s) b (s) t n b = κ(s)n(s) b(s) + t(s) τ(s)n(s) = κ(s)t(s) + τ(s)b(s). 0 κ 0 t = κ 0 τ n 0 τ 0 b

35 Discrete torses Definition A discrete torse is a map T from Z to the space of planes in R 3. discrete-screw-torse.3dm rulings: l = T 1 T edge of regression: γ = T 1 T T 1 l is an edge of γ l and l 1 intersect T is osculating plane of γ equivalent definitions based on planes, points, and lines

36 Application: Design of closed folded strips 6-crease-torse.3dm folded-sphere.3dm

37 Application: Design of closed folded strips Institut für Konstruktion und Gestaltung, Universität Innsbruck: Rupert Maleczek, Eda Schaur Archiwaste: Guillaume Bounoure, Chloe Geneveaux

38 Literature R. Sauer s book contains the derivation of the Frenet-Serret equations as presented here and a treatise on discrete torses. R. Sauer Differenzengeometrie Springer (1970)

39 Lecture 3: Discrete Surfaces and Line Congruences

40 Smooth parametrized surfaces Example f : U R 2 R 3, (u, v) f (u, v) f u f v 0 where f u := f u, f v := f v (tangent vectors to parameter lines) Discuss the regularity of the parametrized surface cos u cos v f (u, v) = cos u sin v, (u, v) ( π 2, π 2 ) (0, 2π). sin u regular-surface-parametrization.mw

41 Discrete surfaces f : Z d R n, (i 1,..., i d ) f (i 1,..., i d ) = f i1,...,i d (f i1,...,i j +1,...,i k...,i d f i1,...,i j,...,i k...,i d ) (f i1,...,i j,...,i k +1...,i d f i1,...,i j,...,i k...,i d ) 0 Shift notation f : Z 2 R 3, (i, j) f (i, j) = f i,j (f i+1,j f ij ) (f i,j+1 f ij ) 0 τ j : shift in j-th coordinate direction, that is, τ j f i1,...,i j,...,i d = f i1,...,i j +1,...,i d write f, f 1, f 2, f 12 etc. instead of f ij, τ 1 f ij, τ 2 f ij, τ 1 τ 2 f ij etc., for example (f i f ) (f j f ) 0

42 Surface curves γ(t) = f (u(t), v(t)) γ(t) = dγ dt = f u du dt + f v dv dt T γ 1 γ 2 f N γ 1 γ 2 tangents of all surface curve through a fixed surface point f lie in the plane through f and parallel to f f u and v tangent plane T is parallel to f u and f v surface normal N is parallel to n = f u f v

43 Conjugate parametrization Definition A surface parametrization f (u, v) is called a conjugate parametrization if f u = f u, f v = f v, and f uv = are linearly dependent for every pair (u, v). 2 f u v invariant under projective transformations tangents of parameter lines of one kind along one parameter line of the other kind form a torse conjugate directions belong to light ray and corresponding shadow boundary conjugate-directions.3dm conjugate directions with respect to Dupin indicatrix

44 Examples Example Show that the surface parametrization sin u sin v 1 f (u, v) = sin u + sin v cos u + cos v 2 cos v cos u is a conjugate parametrization. conjugate-parametrization.mw Solution 1 with(linearalgebra): 2 F := 1/(cos(u)+cos(v)-2) * 3 Vector([sin(u)-sin(v), sin(u)+sin(v), cos(v)-cos(u)]): 4 Fu := map(diff, F, u): Fv := map(diff, F, v): 5 Fuv := map(diff, Fu, v): 6 Rank(Matrix([Fu, Fv, Fuv]));

45 Examples Example Assume that the rational bi-quadratic tensor-product Bézier-surface f (u, v) = f (u, v) = 2 2 i=0 j=0 w ijp ij B 2 i (u)b2 j (v) 2 2 i=0 j=0 w ijb 2 i (u)b2 j (v) defines a conjugate parametrization. Show that in this case the four sets of control points are necessarily co-planar. {p 00, p 01, p 11, p 10 }, {p 01, p 02, p 12, p 11 }, {p 10, p 11, p 21, p 20 }, {p 11, p 12, p 22, p 21 }

46 Examples Solution w 00 f u (0, 0) = 2w 10 (p 10 p 00 ), w 00 f v (0, 0) = 2w 01 (p 01 p 00 ) 4w 2 00 f uv(0, 0) = w 00 w 11 (p 11 p 00 ) w 01 w 10 ((p 01 p 00 ) + (p 10 p 00 ))

47 Discrete conjugate nets Definition A discrete surface f : Z d R n is called a discrete conjugate surface (or a conjugate net), if every elementary quadrilateral is planar, that is, if the three vectors f i f, f j f, f ij f are linearly dependent for 1 i < j d. invariant under projective transformations edges in one net direction along thread in other net direction form a discrete torse

48 Analytic description of conjugate nets f ij = f + c ji (f i f ) + c ij (f j f ), c ji, c ij R Construction of a conjugate net f from 1. values of f on the coordinate axes of Z d and 2. d(d 1) scalar functions c ji, c ij : Z d R conjugate-net-cg3 Example For which values of c ji and c ij is the quadrilateral f f 1 f 12 f 2 1. convex, 2. embedded?

49 Solution By an affine transformation, the situation is equivalent to f = (0, 0), f i = (1, 0), f j = (0, 1). Then the fourth vertex is f ij = (c ji, c ij ). The quadrilateral is convex if c ji, c ij 0 and c ji + c ij 1. embedded if c ji + c ij > 1 or cji, c ij > 0 or cji = 0, c ij 1 or c ij = 0, c ji 1 or cji, c ij < 0. f j f f i convex embedded

50 The basic 3D system Theorem Given seven vertices f, f 1, f 2, f 3, f 12, f 13, and f 23 such that each quadruple f f i f j f ij is planar there exists a unique point f ijk such that each quadruple f i f ij f ik f ijk is planar. Proof. The initially given vertices lie in a three-space. The point f 123 is obtained as intersection of three planes in this three-space.

51 3D consistency of a 2D system f 001 f 011 f 101 f 111 f 000 f 010 f 100 f 110

52 4D consistency of a 3D system f 0010 f 0110 f 1010 f 1110 f 0011 f 0111 f 1011 f 1111 f 0001 f 0101 f 0000 f 1001 f 1101 f 0100 f 1000 f 1100

53 4D consistency of a 3D system f 0010 f 0110 f 1010 f 1110 f 0011 f 0111 f 1011 f 1111 f 0001 f 0101 f 0000 f 1001 f 1101 f 0100 f 1000 f 1100

54 4D consistency of a 3D system f 0010 f 0110 f 1010 f 1110 f 0011 f 0111 f 1011 f 1111 f 0001 f 0101 f 0000 f 1001 f 1101 f 0100 f 1000 f 1100

55 4D consistency of a 3D system f 0010 f 0110 f 1010 f 1110 f 0011 f 0111 f 1011 f 1111 f 0001 f 0101 f 0000 f 1001 f 1101 f 0100 f 1000 f 1100

56 4D consistency of a 3D system f 0010 f 0110 f 1010 f 1110 f 0011 f 0111 f 1011 f 1111 f 0001 f 0101 f 0000 f 1001 f 1101 f 0100 f 1000 f 1100

57 4D consistency of conjugate nets Theorem The 3D system governing discrete conjugate nets is 4D consistent. Proof. More-dimensional geometry. Corollary The 3D system governing discrete conjugate nets is nd consistent. Proof. General result of combinatorial nature on 4D consistent 3D systems.

58 Quadric restriction of conjugate nets Theorem Given seven vertices f, f 1, f 2, f 3, f 12, f 13, and f 23 on a quadric Q such that each quadruple f f i f j f ij is planar, there exists a unique point f ijk Q such that each quadruple f i f ij f ik f ijk is planar. circular-net Lemma Given seven generic points f, f 1, f 2, f 3, f 12, f 13, f 23 in three space there exists an eighth point f 123 such that any quadric through f, f 1, f 2, f 3, f 12, f 13, f 23 also contains f 123. Proof. Quadric equation: [1, x] Q [1, x] = 0 with Q R 4 4, symmetric, unique up to constant factor Quadrics through f,... f 23 : λ 1 Q 1 + λ 2 Q 2 + λ 3 Q 3 = 0 (solution system of seven linear homogeneous equations) f 123 = Q 1 Q 2 Q 3 \ {f,... f 23 }

59 Quadric restriction of conjugate nets Theorem Given seven vertices f, f 1, f 2, f 3, f 12, f 13, and f 23 on a quadric Q such that each quadruple f f i f j f ij is planar, there exists a unique point f ijk Q such that each quadruple f i f ij f ik f ijk is planar. circular-net Proof. The 3D systems determines f ijk uniquely. The pair of planes f f i f j f ij and f k f ik f jk is a (degenerate) quadric through the initially given points. Three quadrics of this type intersect in f ijk.

60 The meaning of quadric restriction Conjugate nets in quadric models of geometries: line geometry (Plücker quadric) geometry of SE(3) (Study quadric) geometry of oriented spheres (Lie quadric) Conjugate nets in intersection of quadrics: geometry of SE(3) (intersection of six quadrics in R 12 ) Specializations of conjugate nets: circular nets...

61 The meaning of 3D consistency

62 Literature R. Sauer Differenzengeometrie Springer (1970) A. I. Bobenko, Yu. B. Suris Discrete Differential Geometrie. Integrable Structure American Mathematical Society (2008)

63 Numeric computation of conjugate nets Contradicting aims planarity fairness closeness to given surface Planarity criteria α + β + γ + δ 2π = 0 (planar and convex) distance of diagonals det(a, a j, b) = = 0, (planar, avoid singularities) minimize a linear combination of fairness functional and closeness functional subject to planarity constraints f j b f a j δ α a β γ f i f ij b i

64 Literature Liu Y., Pottmann H., Wallner J., Yang Y.-L., Wang W. Geometric Modeling with Conical and Developable Surfaces ACM Transactions on Graphics, vol. 25, no. 3, Zadravec M., Schiftner A., Wallner J. Designing quad-dominant meshes with planar faces. Computer Graphics Forum 29/5 (2010), Proc. Symp. Geometry Processing, to appear.

65 Asymptotic parametrization Definition A surface parametrization f (u, v) is called an asymptotic parametrization if f u, f v, 2 f u 2 and f u, f v, 2 f v 2 are linearly dependent for every pair (u, v). Asymptotic lines exist only on surfaces with hyperbolic curvature osculating plane of parameter lines is tangent to surface (rectifying plane contains surface normal) intersection curve of surface and rectifying plane of parameter lines has an inflection point invariant under projective transformations

66 An Example Example Show that the surface parametrization u f (u, v) = v uv is an asymptotic parametrization. Solution We compute the partial derivative vectors: f u = (1, 0, v), f v = (0, 1, u), f uu = f vv = (0, 0, 0). Obviously, f uu and f vv are linearly dependent from f u and f v.

67 A pseudosphere Wunderlich W. Zur Differenzengeometrie der Flächen konstanter negativer Krümmung Österreich. Akad. Wiss. Math.-Naturwiss. Kl. S.-B. II, vol. 160, no. 2, 39 77, asymptotic-pseudosphere.3dm

68 Discrete asymptotic nets Definition A discrete surface f : Z d R 3 is called a discrete asymptotic surface (or an asymptotic net), if there exists a plane through f that contains all vectors f i f, f i f. for 1 i d (planar vertex stars ). well-defined tangent plane T and surface normal N at every vertex f discrete partial derivative vector (f i f ) + (f f i ) is parallel to T

69 Examples A sportive example A floristic example blumenampel-1.jpg blumenampel-2.jpg An architectural example

70 Properties of asymptotic nets invariant under projective transformations asymptotic lines have osculating planes tangent to the surface Asymptotic nets in higher dimension straightforward extension to maps f : Z d R n nonetheless only asymptotic nets in a three-space

71 Construction of 2D asymptotic nets Prescribe values of f on coordinate axes such that all vectors τ i f 0,0 f 0,0, i {1, 2} are parallel to a plane. f 1,1 lies in the intersection of the two planes f 0,0 f 1,0 f 2,0 and f 0,0 f 0,1 f 0,2 (one degree of freedom) inductively construct remaining values of f (one degree of freedom per vertex) asymptotic-net.cg3

72 Construction of asymptotic nets in dimension three Prescribe values of f on coordinate axes such that all vectors τ i f 0,0,0 f 0,0,0, i {1, 2, 3} are parallel to a plane. Complete the points τ i τ j f 0,0,0, i, j {1, 2, 3}; i j (one degree of freedom per vertex). three ways to construct f 1,1,1 from the already constructed values = three straight lines Do these lines intersect? Are asymptotic nets governed by a 3D system?

73 Möbius tetrahedra Definition Two tetrahedra a 0 a 1 a 2 a 3 and b 0 b 1 b 2 b 3 are called Möbius tetrahedra, if a i b j b k b l and b i a j a k a l ( ) for all pairwise different i, j, k, l {0, 1, 2, 3}. (Points of one tetrahedron lie in corresponding planes of the other tetrahedron.) moebius-tetrahedra.cg3 Theorem (Möbius) Seven of the eight incidence relations ( ) imply the eighth.

74 Möbius tetrahedra Proof. 1. Notation: A i = a j a k a l, B i = b j b k b l 2. Choose a 0, B 0 with a 0 B Choose a 1, a 2, a 3 (general position) A 0, A 1, A 2, A Choose b 1 B 0 A 1, b 2 B 0 A 2, b 3 B 0 A 3 B 1 = b 2 b 3 a 1, B 2 = b 1 b 3 a 2, B 3 = b 1 b 2 a b 0 := B 1 B 2 B 3, Claim: b 0 A 0 ( by Pappus Theorem). pappus-theorem.ggb a 3 a 1 a 2 b 1 b 2 b 3 a 0 b 0 A 0 B 0

75 Construction of asymptotic nets in dimension three (II) Asymptotic net pairs (f, T) of points f and planes T with f T; defining property f τ i T and τ i f T. Partition the vertices of the elementary hexahedron of an asymptotic net into two vertex sets of tetrahedra: a 0 = f 0,0,0, a 1 = f 1,1,0, a 2 = f 1,0,1, a 3 = f 0,1,1, b 0 = f 1,1,1, b 1 = f 0,0,1, b 2 = f 0,1,0, b 3 = f 1,0,0. Construction of the vertices f ijk with (i, j, k) (1, 1, 1) yields the configuration of Möbius Theorem = construction of f 111 without contradiction.

76 Analytic description of asymptotic nets Asymptotic net: f : Z d R 3 Lelieuvre vector field: n: Z d R 3 such that 1. n T and 2. f i f = n i n vector n i can be constructed uniquely from f, n, f i (three linear equations) vector n ij can be constructed via f, n, f i n i ; f ij n ij f, n, fj n j ; f ij n ij Do these values coincide?

77 An auxiliary result Lemma (Product formula) Consider a skew quadrilateral f, f i, f ij, f j and vectors n, n i, n ij, n j such that f i f = αn i n, f j f = βn j n, f ij f j = α j n j n j, f ij f i = β i n ij n i. Then αα j = ββ i. Proof. (f i f ) T n j = α(n i n) T n j = α(n j n) T n i (f j f ) T n i = β(n j n) T n i α β = (f i f ) T n j (f j f ) T n i = (f i f + f f j ) T n j (f j f + f f i ) T n i = (f i f j ) T n j (f j f i ) T n i

78 An auxiliary result Lemma (Product formula) Consider a skew quadrilateral f, f i, f ij, f j and vectors n, n i, n ij, n j such that f i f = αn i n, f j f = βn j n, f ij f j = α j n j n j, f ij f i = β i n ij n i. Then αα j = ββ i. Proof. α β = (f i f ) T n j (f j f ) T n i = (f i f + f f j ) T n j (f j f + f f i ) T n i = (f i f j ) T n j (f j f i ) T n i α j β i = = (f i f j ) T n i (f i f j ) T n j = α β = β i α j

79 Existence and uniqueness Theorem The Lelieuvre normal vector field n of an asymptotic net f is uniquely determined by its value at one point. Proof. Uniqueness Existence Product formula for normal vector fields: αα j = ββ i. Three of the values α, α j, β, β i equal 1 = all four values equal 1. The Lelieuvre normal vector field is characterized by α = α j = β = β i = 1. Both construction of n ij result in the same value.

80 Relation between two Lelieuvre normal vector fields Theorem Suppose that n and n are two Lelieuvre normal vector fields to the same asymptotic net. Then there exists a value α R such that αn(z) if z z d is even, n(z) = α 1 n(z) if z z d is odd. Proof.

81 The discrete surface of Lelieuvre normals What are the properties of the discrete net n: Z d R 3? f ij f = f ij f i + f i f = n ij n i + n i n f ij f = f ij f j + f j f = n ij n j + n j n = (n ij n) (n i n j ) = 0 = n ij n = a ij (n j n i ) where a ij R Conclusion: The net n: Z d R 3 is conjugate. Every fundamental quadrilateral has parallel diagonals (this is called a T-net ).

82 T-nets Defining equation: y ij y = a ij (y j y i ) where a ij R a ij = a ji y ij y = (1 + c ji )(y i y) + (1 + c ij )(y j y) = cij + c ji + 2 = 0 (T-net condition) aij = c ij + 1 (relation between coefficients)

83 Elementary hexahedra of T-nets Theorem Consider seven points y, y 1, y 2, y 3, y 12, y 13, y 23 of a combinatorial cube such that the diagonals of y y 1 y 12 y 2, y y 1 y 13 y 3, and y y 2 y 23 y 3 are parallel. Then there exists a unique point y 123 such that also the diagonals of y 1 y 12 y 123 y 13, y 2 y 12 y 123 y 23, and y 3 y 13 y 123 y 23 are parallel. Corollary T-nets are described by a 3D system. They are nd consistent.

84 Elementary hexahedra of T-nets Proof. y ij y = a ij (y j y i ) = τ i y jk = (1 + (τ i a jk )(a ij + a ki ))y i (τ i a jk )a ij y j (τ i a jk )a ki y k Six linear conditions for three unknowns τ i a jk : 1 + (τ 1 a 23 )(a 12 + a 31 ) = (τ 2 a 31 )a 12 = (τ 3 a 12 )a (τ 2 a 31 )(a 23 + a 12 ) = (τ 3 a 12 )a 23 = (τ 1 a 23 )a (τ 2 a 30 )(a 23 + a 02 ) = (τ 3 a 02 )a 23 = (τ 0 a 23 )a 02 Unique solution: τ 1 a 23 a 23 = τ 2a 31 a 31 = τ 3a 12 a 12 = 1 a 12 a 23 + a 23 a 31 + a 31 a 12

85 Asymptotic nets from T-nets Theorem An asymptotic net is uniquely defined (up to translation) by a Lelieuvre normal vector field (a T-net). Corollary Asymptotic nets are nd consistent. Question: How to construct an asymptotic net from a given T-net n?

86 Discrete one forms graph G with vertex set V, set of directed edges E vector space W Definition (discrete additive one-form) p: E W is a discrete additive one-form if p( e) = p(e). p is exact if e Z p(e) = 0 for every cycle Z of directed edges. Example: p(e) = e. Definition (discrete multiplicative one-form) q: E R \ 0 is a discrete multiplicative one-form if q( e) = 1/q(e). q is exact if e Z q(e) = 1 for every cycle Z of directed edges.

87 Integration of exact forms Theorem Given the exact additive discrete one form p: E W there exists a function f : V W such that p(e) = f (y) f (x) for any e = (x, y) in E. The function f is defined up to an additive constant. Proof. Theorem Given the exact multiplicative discrete one form q: E R \ 0 there exists a function ν: V R \ 0 such that q(e) = ν(y)/ν(x) for any e = (x, y) in E. The function ν is defined up to an additive constant.

88 Integration of exact forms Theorem Given the exact additive discrete one form p: E W there exists a function f : V W such that p(e) = f (y) f (x) for any e = (x, y) in E. The function f is defined up to an additive constant. Proof. Question: How to construct an asymptotic net from a given T-net n? Answer: Integrate the exact one form p(i, j) = n i n j.

89 Ruled surfaces and torses L n... set of lines in RP n (typically n = 3) Definition A ruled surface is a (sufficiently regular) map l: R L n. Definition A discrete ruled surface is a map l: Z L n such that l l i =. Definition A torse is a map l: R L n such that all image lines are tangent to a (sufficiently regular) curve. Definition A discrete torse is a map l: Z L n such that l l i. = existence of polygon of regression, osculating planes etc.

90 Smooth line congruences Definition A line congruence is a (sufficiently regular) map l: R 2 L n. Examples normal congruence of a smooth surface: f (u, v) + λn(u, v) where n = f u f v. set of transversals of two skew lines sets of light rays in geometrical optics

91 Discrete line congruences Definition A discrete line congruence is a map l: Z d L n such that any two neighbouring lines l and l i intersect. smooth line congruences admit special parametrizations different discretizations conceivable discretize definition considers only parametrization along torses

92 Construction of discrete line congruences d = 2 : d = 3 : The completion of an elementary hexahedron from seven lines l, l 1, l 2, l 3, l 12, l 13, l 23 is possible and unique (3D system). d = 4 : The completion of an elementary hypercube from 15 lines l, l i, l ij, l ijk is possible and unique (4D consistent). d > 4 nd consistent

93 Discrete line congruences and conjugate nets Definition The i-th focal net of a discrete line congruence l: Z d L n is defined as F (i) = l l i. Theorem The i-th focal net of a discrete line congruence is a discrete conjugate net. Theorem Given a discrete conjugate net f : Z d R n, a discrete line congruence l: Z d L n with the property f l is uniquely determined by its values at the coordinate axes in Z d. Proof. Given two lines l i, l j and a point f ij there exists a unique line l ij incident with f ij and concurrent with l i, l j.

94 Discrete line congruences and conjugate nets II Definition The i-th tangent congruence of a discrete conjugate net f : Z 2 RP n is defined as l (i) = f f i. Definition In case of d = 2 the i-th Laplace transform l (i) of a two-dimensional discrete conjugate net is the j-th focal congruence of its i-th tangent congruence (i j). Theorem The Laplace transforms of a discrete conjugate net are discrete conjugate nets.

95 Lecture 4: Discrete Curvature Lines

96 Curvature line parametrizations f : R 2 R 3, (u, v) f (u, v) normal surfaces along parameter lines are torses (infinitesimally neighbouring surface normals along parameter lines intersect) f u, f v are tangent to the principal directions parameter lines intersect orthogonally

97 Discrete curvature line parametrizations Neighboring surface normals intersect. circular nets conical nets principal contact element nets HR-congruences

98 Circular nets Definition A map f : Z d R n is called a circular net or discrete orthogonal net if all elementary quadrilaterals are circular. neighboring circle axes intersect discretization of conjugate parametrization

99 Algebraic characterization f ij = f + c ji (f i f ) + c ij (f j f ), c ji, c ij R αf + α i f i + α j f j + α ij f ij = 0, α + α i + α j + α ij = 0 (α = 1 c ij c ji, α i = c ji, α j = c ij, α ij = 1) Circularity condition: α f 2 + α i f i 2 + α j f j 2 + α ij f ij 2 = 0 ( ) Proof. ( ) m R n : α f m 2 + α i f i m 2 + α j f j m 2 + α ij f ij m 2 = 0 Take m as center of circum-circle C of f, f i, f j : f m 2 = f i m 2 = f j m 2 = r 2. = f ij m = r 2 = f ij C

100 Circularity criteria Theorem The four points a, b, c, d R 2 lie on a circle if and only if opposite angles in the quadrilateral a b c d are supplementary, that is, a α d δ γ c α + γ = β + δ = π. (immediate consequence from the Inscribed-Angle Theorem) β b inscribed-angle-theorem.ggb

101 Circularity criteria Theorem The four points a, b, c, d C lie on a circle (or a straight line) if and only if a b b c c d d a R. ( ) Proof. Angle between complex numbers equals argument of their ratio: (a, b) = arg(a/b) Two complex numbers a, b have the same or supplimentary argument a/b R. ( ) equals a b c b : a d c d. and thus states equality or supplimentary of β and δ.

102 Circularity criteria Theorem The four points a, b, c, d C lie on a circle (or a straight line) if and only if a b b c c d d a R. ( ) Cross-ratio criterion for circularity: CR(a, b, c, d) = a c b c b d a d R. better known more difficult to memorize similar proof (use Incident Angle Theorem)

103 Circularity criteria In the following theorem, a, b, c, and d are considered as vector valued quaternions; multiplication (not commutative) and inversion are performed in the quaternion division ring. Theorem The four points a, b, c, d R 3 lie on a circle (or a straight line) if and only if their cross-ratio CR(a, b, c, d) = (a b) (b c) 1 (c d) (d a) 1 is real. Proof. cross-ratio-criterion.mw

104 Literature Richter-Gebert J., Orendt, Th. Geometriekalküle Springer Bobenko A. I., Pinkall U. Discrete Isothermic Surfaces J. reine angew. Math (1996)

105 Two-dimensional circular nets Defining data values of f on coordinate axes of Z 2 a cross-ratio on each elementary quadrilateral Shape of the circles The quadrilateral a b c d is circular and embedded if and only if a b b c c d d a < 0. Numerical computation Add circularity condition (α + γ π) 2 + (β + δ π) 2 min to optimization scheme.

106 Three-dimensional circular nets Theorem Circular nets are governed by a 3D system. Theorem Given seven vertices f, f 1, f 2, f 3, f 12, f 13, and f 23 such that each quadruple f f i f j f ij lies on a circle, there exists a unique point f ijk such that each quadruple f i f ij f ik f ijk is a circular quadrilateral. Proof. All initially given vertices lie on a sphere S. Claim follows from quadric reduction of conjugate nets. Alternative: Miquel s Six Circles Theorem

107 Conical nets Definition A map P: Z d {oriented planes in R 3 } is called a conical net the four planes P, P i, P ij, P j are tangent to an oriented cone of revolution. neighboring cone axes intersect discretization of conjugate parametrization

108 The Gauss map of conical nets Every plane P is described by unit normal n and distance d to the origin. The map n: Z d S 2 R 3 is the Gauss map of the conical net. Theorem The Gauss map is circular. A conical net is uniquely determined by its Gauss map and the map d: Z d R +. Conicality criterion: (n n i ) (n i n ij ) 1 (n ij n j ) (n j n) 1 R.

109 Circular quadrilaterals Theorem The composition of the reflections in two intersecting lines is a rotation about the intersection point through twice the angle between the two lines. ϕ p 2 2ϕ p 0 p 1 Theorem The composition of reflections in successive bisector planes of a circular quadrilateral yields the identity. b a α γ β δ β α δ γ d c

110 Conical nets from circular nets Theorem Given a circular net f there exists a two-parameter variety of conical nets whose face planes are incident with the vertices of f. Any such net is uniquely determined by one of its face planes. Proof. Generate the conical net by successive reflection in the bisector planes of neighboring vertices of f. This construction produces planes of a conical net and is free of contradictions.

111 Circular nets from conical nets Theorem Given a conical net P there exists a two-parameter variety of circular nets whose vertices are incident with the face planes of P. Any such net is uniquely determined by one of its vertices. Proof. Also the composition of the reflections in successive bisector planes of the face planes of a conical net yields the identity.

112 Multidimensional consistency Theorem Conical nets are governed by a 3D system. They are nd consistent. Proof. The claim follow from the analogous statements about circular nets and the fact that both classes of nets can be generated by the same sequence of reflections.

113 Literature A. I. Bobenko, Yu. B. Suris Discrete Differential Geometrie. Integrable Structure American Mathematical Society (2008) H. Pottmann., J. Wallner The focal geometry of circular and conical meshes Adv. Comput. Math., vol. 29, no. 3, , 2008.

114 Numerical computation Theorem (Lexell; Wallner, Liu, Wang) Consider four unit vectors e 0, e 1, e 2, e 3 and denote the angle between e i and e i+1 by ψ i,i+1. The vectors are the directions of the edges emanating from a vertex in a conical net if and only if ψ 01 + ψ 23 = ψ 12 + ψ 31. A complete proof considering all possible cases is not difficult but involved. The theorem is actually a statement about spherical quadrilaterals with an in-circle. For numerical computation, add conicality condition (ψ01 + ψ 23 ψ 12 ψ 31 ) 2 min to optimization scheme.

115 Literature Lexell A. J. Acta Sc. Imp. Petr. (1781) 6, Wang W., Wallner J., Lie Y. An Angle Criterion for Conical Mesh Vertices J. Geom. Graphics (2007) 11:2,

116 HR-congruences Definition A discrete line congruence l: Z d R 3 is called an HR-congruence if the skew quadrilateral consisting of the four lines l, l i, l ij, l j lies on a hyperboloid of revolution. Theorem If p is a circular net and T a conical net with p T, then the normals of T form an HR-congruence. Proof. Construction by reflection.

117 Principal contact element nets Definition An (oriented) contact element is a pair (p, n) consisting of a point p and a unit vector n. Alternatively, think of a contact element as a pair (p, N) (point plus oriented line), a pair (p, T) (point plus oriented tangent plane). Definition A principle contact element net is a map (p, n): Z d {space of oriented contact elements} such that any two neighboring contact elements have a common tangent sphere.

118 Properties of principal contact element nets The normals of neighboring contact elements intersect in the center of the tangent sphere (curvature line discretization). Neighboring contact elements have a unique plane of symmetry.

119 Relation to circular and conical nets Theorem If f is a circular net and T a conical net such that f T, then (f, T) is a principal contact element net. Proof. Due to the construction by reflections, the intersection points of the plane normals are at the same (oriented distance) from the points of tangency.

120 Relation to circular and conical nets Theorem If (p, T) is a principal contact element net with face planes T, then p is a circular net and T is a conical net. Proof. Opposite contact elements of an elementary quadrilateral correspond, in two ways, in the composition of two reflections in planes of symmetry. Opposite contact elements correspond in two rotations. Opposite contact elements have skew normals = the two rotations are actually identical. All four planes of symmetry intersect in a common line and the composition of reflections yields the identity.

121 Lecture 5: Parallel Nets, Offset Nets and Curvature

122 Parallel nets Definition Let f : Z d R n be a conjugate net. A conjugate net f + : Z R n is called a parallel net (or a Combescure transform of f ) if corresponding edges are parallel. Remark The theory of parallel nets and offset nets as presented below extends to quad meshes of arbitrary combinatorics.

123 Parallel nets and line congruences Given are a conjugate net f and a parallel net f + : = l = f f + is a discrete line congruence Given are a conjugate net f and a discrete line congruence l with f l: = There exists a one-parameter family f + of parallel nets with f + l. = f + is uniquely determined by its value at one point.

124 Offset nets Given: conjugate net f parallel net f + Definition A parallel net f + is called a vertex/face/edge offset net if corresponding vertices/faces/edges are at constant distance d.

125 The vector space of parallel nets Theorem All conjugate nets parallel to a given conjugate net form a vector space over R where addition and multiplication are defined vertex-wise: λf : Z d R n, f + f + : Z d R n, i λf (i), i f (i) + f + (i). Definition Let f and f + be a pair of offset nets at constant distance d. Then the Gauss image of f + with respect to f is defined as s = 1 d (f + f ).

126 The smooth Gauss map for curves curvature ratio of arc-lengths of Gauss image and curve

127 The smooth Gauss map for surfaces Definition Given a smooth surface M, denote by n p the oriented unit normal in p M. The Gauss map of M is the map n: M S 2, p n p.

128 The smooth Gauss map for surfaces Definition Given a smooth surface M, denote by n p the oriented unit normal in p M. The Gauss map of M is the map n: M S 2, p n p. Properties: closely related to surface curvatures negative derivative dn: T p (M) T np (S 2 ) is called the shape operator

129 The Gauss image of offset nets Theorem The Gauss image of a vertex/face/edge offset net is a net whose vertices are contained in S d, whose faces circumscribe S d, whose edges are tangent to S d.

130 Characterization of offset-nets Corollary A conjugate net f admits a vertex offset net f + if and only if it is circular. Proof. Assume a vertex offset f + exists = circular Gauss image = original net is circular (angle criterion for circularity). Construction of vertex offset nets: Assume f is circular: 1. Prescribe one vertex of f + vertex-offset-net.3dm 2. Construct Gauss image from one vertex and known edge directions (unambiguous; no contradictions by circularity). 3. Construct f + from the Gauss image (unambiguous; no contradictions).

131 Characterization of offset-nets Corollary A conjugate net f admits a face offset net f + if and only if it is conical. Proof. Assume a face offset f + exists = conical Gauss image = original net is conical (angle criterion for conicality). Construction of face offset nets: Assume f is conical: 1. Prescribe one face of f +. face-offset-net.3dm 2. Construct other faces by offsetting (unambiguous; no contradictions by conicality).

132 Characterization of offset-nets Definition A conjugate net is called a Koebe net, if its edges are tangent to the unit sphere. Corollary A conjugate net f admits an edge offset net f + if and only if it is parallel to a Koebe net s. Proof. Construction of f + from f and s: f + = f + d s edge-offset-net.3dm

133 Offset nets in architecture fewer edges for quad dominant meshes quadrilateral glass panels are cheaper less-steel, more glass torsion-free nodes existence of face or edge offset meshes H. Pottmann, Y. Liu, J. Wallner, A. Bobenko, W. Wang Geometry of multi-layer freeform structures for architecture ACM Trans. Graphics, vol. 26, no. 3, 1 1, 2007 support-structure.3dm

134 Discrete line congruences with offset properties Definition Two discrete line congruences l and l + are called parallel, if corresponding lines are parallel. They are called offset congruences if corresponding lines are at constant distance as well. Remark The edges of an edge-offset net constitute a special example of an offset congruence with planar elementary quadrilaterals. Remark Offset congruences occur in architecture of folded paper strips.

135 Application: Design of closed folded strips Institut für Konstruktion und Gestaltung, Universität Innsbruck: Rupert Maleczek, Eda Schaur Archiwaste: Guillaume Bounoure, Chloe Geneveaux

136 Offset congruences Theorem All line congruences parallel to a given discrete line congruence l form a vector space. Addition and multiplication are defined via addition and multiplication of corresponding intersection points. Definition The Gauss image of two offset congruences l and l + at distance d is defined as s = 1 d (l+ l). Theorem A discrete line congruence l admits an offset congruence if and only if it is parallel and at constant distance to a discrete line congruence whose lines are tangent to the unit sphere S 2.

137 Elementary quadrilaterals of the Gauss image Problem: Given two tangents A, B of S 2 find lines X which 1. intersect A and B and 2. are tangent to S 2. Solution: The locus of possible points of tangency consists of two circles through a and b.

138 Bi-arcs in the plane and on the sphere j b A B B a biarc.ggb H. Pottmann, J. Wallner Computational Line Geometry Springer (2001) H. Stachel, W. Fuhs Circular pipe-connections Computers & Graphics 12 (1988),

139 Elementary quadrilaterals of the Gauss image Theorem Let s be the Gauss image of a pair of offset congruences. An elementary quadrilateral of s is either 1. the elementary quadrilateral of an HR-congruence or 2. something different (yet unnamed) Remark The geometry of offset congruences and metric aspects of discrete line geometry are open research questions.

140 Curvature of a smooth curve Q t γ: I R R 3, t γ(t), γ(t) γ(t) κ(t) = γ(t) 3, l(γ) = γ(t) dt. I k n M ρ M k P c change of tangent direction per arc-length inverse radius of optimally approximating circle

141 Steiner s formula convex curve γ R 2, arc-length s, curvature κ(s) offset curve γ t at distance t l(γ t ) = l(γ) + t κ(t) dt γ γ(s) t γ t (s) Example: A circle l(γ t ) = 2(r + t)π = 2rπ + 2tπ = l(γ) + t 2rπ 0 r 1 dϕ

142 Steiner type curvatures in vertices ϕ 1 ϕ 2 ϕ 1 ϕ 2 ϕ 1 ϕ 2 ϕ 0 ϕ 3 ϕ 0 ϕ 3 ϕ 0 ϕ 3 ϕ 5 ϕ 4 ϕ 5 ϕ 4 ϕ 5 ϕ 4 2 sin ϕ i 2 ϕ i 2 tan ϕ i 2 Assign curvature to vertices so that Steiner s Theorem remains true. The three possibilities are identical up to second order terms: 2 sin ϕ 2 = ϕ + O(ϕ3 ), ϕ = ϕ + O(ϕ 3 ), 2 tan ϕ 2 = ϕ + O(ϕ3 ).

143 Curvatures of a smooth surface normal-curvature.3dm

144 Gaussian curvature as local area distortion area A area A 0 K A 0 A

145 Gaussian curvature as local area distortion area A area A 0 principal contact element net (p, n) Gauss image n discrete Gauss curvature of a face: K = A 0 A

146 Local Steiner formula Smooth surface f, offset surface f t at distance t: da(f t ) = (1 2Ht + Kt 2 ) da(f ). ratio of area elements is a quadratic polynomial in the offset distance coefficients depend on Gaussian curvature K and mean curvature H Discretization: compare face areas of offset nets use coefficients of (hopefully) quadratic polynomials

147 Oriented and mixed area n-gon P = p 0,..., p n 1 R 2 oriented area A(P) = 1 n det(p i, p i+1 ) (indices modulo n) 2 i=0 = (p 0,..., p n ) A (p 0,..., p n ) T (quadratic form in R 2n ) associated symmetric bilinear form mixed-area-form.mw A(P, Q) = (p 0,..., p n ) A (q 0,..., q n ) T Remark If P and Q are parallel, positively oriented convex polygons then A(P, Q) equals the mixed area (known from convex geometry) of P and Q.

148 Discrete Steiner formula principal contact element net (f, n) offset net f t = f + tn corresponding faces F, F t, N A(F t ) = A(F + tn) = where A(F) + 2tA(F, N) + t 2 A(N) = (1 2tH + t 2 K)A(F), A(F, S) H = A(F), K = A(S) A(F) (discrete Gaussian and mean curvature associated to faces)

149 Pseudospherical principal contact element nets Theorem (f 0, n 0 ), (f 1, n 1 ), (f 2, n 2 ) of an elementary quadrilateral in a principal contact element net, show that there exists precisely one vertex (f 3, n 3 ) such that the Gaussian curvature attains a given value K. f 3 is constrained to circle, n 3 is found by reflection quadratic parametrizations f 3 (t) and n 3 (t) The condition K A(F) = A(S) is a quadratic polynomial Q(t). One of the two zeros of Q is attained for f 3 = f 0, n 3 = n 0, the other zero is the sought solution.

150 Pseudospherical principal contact element nets Theorem (f 0, n 0 ), (f 1, n 1 ), (f 2, n 2 ) of an elementary quadrilateral in a principal contact element net, show that there exists precisely one vertex (f 3, n 3 ) such that the Gaussian curvature attains a given value K. Corollary A pseudospherical principal contact element net (f, n) is governed by a 2D system. Kinematic approach, nd consistency etc. ICGG 2010, CCGG 2010

151 Pseudospherical principal contact element nets

152 Literature A. I. Bobenko, H. Pottmann, J. Wallner A curvature theory for discrete surfaces based on mesh parallelity Math. Ann., 348:1, 1 24 (2010). J.-M. Morvan Generalized Curvatures Springer 2008 M. Desbrun, E. Grinspun, P. Schröder, M. Wardetzky Discrete Differential Geometry: An Applied Introduction SIGGRAPH Asia 2008 Course Notes

153 Lecture 6: Cyclidic Net Parametrization

154 Net parametrization Problem: Given a discrete structure, find a smooth parametrization that preserves essential properties. Examples: conjugate parametrization of conjugate nets principal parametrization of circular nets principal parametrization of planes of conical nets principal parametrization of lines of HR-congruence...

155 Dupin cyclides inversion of torus, revolute cone or revolute cylinder curvature lines are circles in pencils of planes tangent sphere and tangent cone along curvature lines algebraic of degree four, rational of bi-degree (2, 2)

156 Dupin cyclide patches as rational Bézier surfaces

157 Supercyclides (E. Blutel, W. Degen) projective transforms of Dupin cyclides (essentially) conjugate net of conics. tangent cones

158 Cyclides in CAGD surface approximation (Martin, de Pont, Sharrock 1986) blending surfaces (Böhm, Degen, Dutta, Pratt,... ; 1990er) Advantages: rich geometric structure low algebraic degree rational parametrization of bi-degree (2, 2): curvature line (or conjugate lines) circles (or conics) Dupin cyclides: offset surfaces are again Dupin cyclides square root parametrization of bisector surface

159 Rational parametrization (Dupin cyclides) Trigonometric parametrization (Forsyth; 1912) µ(c a cos θ cos ψ) + b 1 2 cos θ Φ: f (θ, ψ) = b sin θ(a µ cos ψ) a c cos θ cos ψ b sin ψ(c cos θ µ) a, c, µ R; b = a 2 c 2 Representation as Bézier surface 1. θ = 2 arctan u, ψ = 2 arctan v 2. u α u + β γ u + δ, v α v + β γ v + δ 3. Conversion to Bernstein basis Problem: A priori knowledge about surface position is necessary (also with other approaches).

160 Cyclides as tensor-product Bézier surfaces Every cyclide patch has a representation as tensor-product Bézier patch of bi-degree (2, 2): F(u, v) = 2 2 i=0 j=0 B2 i (u)b2 j (v)w ijp ij 2 2 i=0 j=0 B2 i (u)b2 j (v)w ij, B n k (t) = ( n k ) (1 t) n k t k Aims: elementary construction of control points p ij geometric properties of control net elementary construction of weights w ij applications to CAGD and discrete differential geometry

161 The corner points 1. The four corner points p 00, p 02, p 20, and p 22 lie on a circle. Reason: This is true for the prototype parametrizations (torus, circular cone, circular cylinder) and preserved under inversion.

162 The missing edge points 2.a The missing edge-points p 01, p 10, p 12, p 21 lie in the bisector planes of their corner points. 2.b One pair of orthogonal edge tangents can be chosen arbitrarily. Reason: The edge curves are circles. No contradiction because of circularity of edge vertices. Conclusion The corner tangent planes envelope a cone of revolution. p 20 p 21 p 10 p 22 y p 00 p 12 x p 01 p 02

163 The central control point 3. The central control point p 11 lies in all four corner tangent planes. Reason: f (u, v) is conjugate parametrization f u, f v und f uv linear dependent p 22 The quadrilaterals p 00 p 01 p 10 p 11, p 01 p 02 p 12 p 11, p 10 p 20 p 21 p 10, p 12 p 21 p 22 p 11 are planar (conjugate net). p 20 p 21 p 11 p 10 y x p 00 p 12 p 01 p 02

164 Parametrization of a circular/conical nets

165 Parametrization of a circular/conical nets

166 Parametrization of a circular/conical nets

167 Parametrization of a circular/conical nets

168 Parametrization of a circular/conical nets

169 Obvious properties of the control net Concurrent lines: Co-axial planes: p 00 p 10, p 00 p 10 p 20, p 01 p 11, p 01 p 11 p 21, p 02 p 12. p 02 p 12 p 22.

170 Orthologic tetrahedra Non-corresponding sides of the x-axis tetrahedron and the y-axis tetrahedron are orthogonal (orthologic tetrahedra). perspective-orthologic.3dm The four perpendiculars from the vertices of one tetrahedron on the non-corresponding faces of the other are concurrent. Orthology centers are perspective centers for a third tetrahedron.

171 The control net as discrete Koenigs-net co-planar diagonal points: (p 00 p 11 ) (p 01 p 10 ), (p 01 p 12 ) (p 02 p 11 ), (p 10 p 21 ) (p 11 p 20 ), (p 11 p 22 ) (p 12 p 21 ). co-axial planes: p 00 p 11 p 02, p 10 p 11 p 12, p 20 p 11 p 22. a net of dual quadrilaterals exists (corresponding edges and non-corresponding diagonals are parallel)

172 A 2 A 3 P 0 P 1 A 0 A 1 P 3 P 2 Quadrilaterals of vanishing mixed area construction of discrete minimal surfaces. H = A(F, S) A(F)

173 The control net of the offset surface Rich structure comprising circular net, conical net, and three HR congruences: existence of offset HR congruence existence of orthogonal HR congruence

174 The control net of the offset surface

175 Literature Degen W. Generalized cyclides for use in CAGD In: Bowyer A.D. (editor). The Mathematics of Surfaces IV, Oxford University Press (1994). Huhnen-Venedey E. Curvature line parametrized surfaces and orthogonal coordinate systems. Discretization with Dupin cyclides Master Thesis, Technische Universität Berlin, Kaps M. Teilflächen einer Dupinschen Zyklide in Bézierdarstelllung PhD Thesis, Technische Universität Braunschweig, 1990.

176 The weight points neighboring control points p i, p j weights w i, w j weight point (Farin point) g ij = w ip i + w j p j w i + w j p 1, w 1 = sin α 2α g 01 g 21 p 0, w 0 = 1 p 2, w 2 = 1

177 The weight points Properties of weight points reconstruction of ratio of weights from weight points is possible points in first iteration of rational de Casteljau s algorithm weight points of an elementary quadrilateral are necessarily co-planar p 1, w 1 = sin α 2α g 01 g 21 p 0, w 0 = 1 p 2, w 2 = 1

178 Literature Farin, G. NURBS for Curve and Surface Design from Projective Geometry to Practical Use 2nd edition, AK Peters, Ltd. (1999)

179 Weight points on cyclidic patches p 22 s 10 s 01 p 21 p 12 p 20 p 11 p 02 p 10 p 01 s 21 s 12 p 00 Algorithm of de Casteljau = weight points of neighboring threads are perspective.

180 Weight points on cyclidic patches p 22 s 10 s 01 p 21 p 12 p 20 p 11 p 02 p 10 p 01 s 21 s 12 p 00 Dupin cyclides: One blue and one red weight point can be chosen arbitrarily.

181 Weight points on cyclidic patches p 22 s 10 s 01 p 21 p 12 p 20 p 11 p 02 p 10 p 01 s 21 s 12 p 00 Supercyclides: Two blue and two red weight points on neighboring edges can be chosen arbitrarily.

182 Determination by edge threads Given: two edge strips (control points, weights, apex of tangent cone) missing corner point dc-construction.cg3 s 21 s 12 p 21 p 22 p 12 p 20 p 11 p 02 p 10 p 01 p 00 s 10 s 01

183 An auxiliary result Given are two spatial quadrilaterals with intersecting corresponding edges: The intersection points points d 0, d 1, d 2 und d 3 are coplanar. The planes spanned by corresponding lines intersect in a point. The Theorem is self-dual (only one implication needs to be shown). If all planes intersect in a point s, the two quadrilaterals are perspective with center s.