B样条曲线曲面介绍

B样条基函数

B样条基函数的定义

由de Boor和Cox分别导出B样条基函数的递推定义，B样条基函数可以表示为
$$\begin{array}{rl}{N}_{i,0}(u)& =\{\begin{array}{l}1,u_i⩽u<u_{i+1}\\ 0,其他\end{array}\\ N_{i,p}(u)& =\frac{u-u_i}{u_{i+p}-u_i}{N}_{i,p-1}(u)+\frac{u_{i+p+1}-u}{u_{i+p+1}-u_{i+1}}{N}_{i+1,p-1}(u),p>0\end{array}$$
并约定$0/0=0$。式中$p$表示B样条的幂次，$u$为节点，下标$i$为B样条的序号。

上式表明，任意$p$次B样条基函数可由两个相邻的$p-1$次B样条基函数的线性组合构成。

B样条基函数的性质

• 如果$u\notin \left[u_i,u_{i+p+1}\right)$，则$N_{i,p}(u)=0$。
• 当$u\in \left[u_i,u_{i+1}\right)$时，$\sum _{j=i-p}^i{N}_{j,p}(u)=1$。

B样条基函数的导数

B样条基函数的求导公式为
$$N_{i,p}^{{}^{\prime }}(u)=\frac{p}{u_{i+p}-u_i}{N}_{i,p-1}(u)-\frac{p}{u_{i+p+1}-u_{i+1}}{N}_{i+1,p-1}(u).$$
下面通过对$p$利用数学归纳法来证明求导公式。当$p=1$时，$N_{i,p-1}(u)$ 和$N_{i+1,p-1}(u)$ 在每个节点区间内或者为$0$，或者为$1$，因此$N_{i,p}^{{}^{\prime }}(u)$ 等于$\frac{1}{u_{i+1}-u_i}$或者$-\frac{1}{u_{i+2}-u_{i+1}}$。我们假设当$p-1(p>1)$时求导公式成立。根据求导法则$(fg{)}^{{}^{\prime }}=f^{{}^{\prime }}g+f{g}^{{}^{\prime }}$，对基函数
$$N_{i,p}(u)=\frac{u-u_i}{u_{i+p}-u_i}{N}_{i,p-1}(u)+\frac{u_{i+p+1}-u}{u_{i+p+1}-u_{i+1}}{N}_{i+1,p-1}(u)$$
求导，得到
$$\begin{array}{rl}{N}_{i,p}^{{}^{\prime }}(u)=& \frac{1}{u_{i+p}-u_i}{N}_{i,p-1}(u)+\frac{u-u_i}{u_{i+p}-u_i}{N}_{i,p-1}^{{}^{\prime }}(u)\\ & -\frac{1}{u_{i+p+1}-u_{i+1}}{N}_{i+1,p-1}(u)+\frac{u_{i+p+1}-u}{u_{i+p+1}-u_{i+1}}{N}_{i+1,p-1}^{{}^{\prime }}(u)\\ =& \frac{1}{u_{i+p}-u_i}{N}_{i,p-1}(u)-\frac{1}{u_{i+p+1}-u_{i+1}}{N}_{i+1,p-1}(u)\\ & +\frac{u-u_i}{u_{i+p}-u_i}\left(\frac{p-1}{u_{i+p-1}-u_i}{N}_{i,p-2}(u)-\frac{p-1}{u_{i+p}-u_{i+1}}{N}_{i+1,p-2}(u)\right)\\ & +\frac{u_{i+p+1}-u}{u_{i+p+1}-u_{i+1}}\left(\frac{p-1}{u_{i+p}-u_{i+1}}{N}_{i+1,p-2}(u)-\frac{p-1}{u_{i+p+1}-u_{i+2}}{N}_{i+2,p-2}(u)\right)\\ =& \frac{1}{u_{i+p}-u_i}{N}_{i,p-1}(u)-\frac{1}{u_{i+p+1}-u_{i+1}}{N}_{i+1,p-1}(u)\\ & +\frac{p-1}{u_{i+p}-u_i}\frac{u-u_i}{u_{i+p-1}-u_i}{N}_{i,p-2}(u)\\ & +\frac{p-1}{u_{i+p}-u_{i+1}}\left(\frac{u_{i+p+1}-u}{u_{i+p+1}-u_{i+1}}-\frac{u-u_i}{u_{i+p}-u_i}\right)N_{i+1,p-2}(u)\\ & -\frac{p-1}{u_{i+p+1}-u_{i+1}}\frac{u_{i+p+1}-u}{u_{i+p+1}-u_{i+2}}{N}_{i+2,p-2}(u).\end{array}$$
由于
$$\begin{array}{rl}\frac{u_{i+p+1}-u}{u_{i+p+1}-u_{i+1}}-\frac{u-u_i}{u_{i+p}-u_i}=& -1+\frac{u_{i+p+1}-u}{u_{i+p+1}-u_{i+1}}+1-\frac{u-u_i}{u_{i+p}-u_i}\\ =& -\frac{u_{i+p+1}-u_{i+1}}{u_{i+p+1}-u_{i+1}}+\frac{u_{i+p+1}-u}{u_{i+p+1}-u_{i+1}}\\ & +\frac{u_{i+p}-u_i}{u_{i+p}-u_i}-\frac{u-u_i}{u_{i+p}-u_i}\\ =& \frac{u_{i+p}-u}{u_{i+p}-u_i}-\frac{u-u_{i+1}}{u_{i+p+1}-u_{i+1}}.\end{array}$$
于是得到
$$\begin{array}{rl}{N}_{i,p}^{{}^{\prime }}(u)=& \frac{1}{u_{i+p}-u_i}{N}_{i,p-1}(u)-\frac{1}{u_{i+p+1}-u_{i+1}}{N}_{i+1,p-1}(u)\\ & +\frac{p-1}{u_{i+p}-u_i}\left(\frac{u-u_i}{u_{i+p-1}-u_i}{N}_{i,p-2}(u)+\frac{u_{i+p}-u}{u_{i+p}-u_{i+1}}{N}_{i+1,p-2}(u)\right)\\ & -\frac{p-1}{u_{i+p+1}-u_{i+1}}\left(\frac{u-u_{i+1}}{u_{i+p}-u_{i+1}}{N}_{i+1,p-2}(u)+\frac{u_{i+p+1}-u}{u_{i+p+1}-u_{i+2}}{N}_{i+2,p-2}(u)\right)\\ =& \frac{1}{u_{i+p}-u_i}{N}_{i,p-1}(u)-\frac{1}{u_{i+p+1}-u_{i+1}}{N}_{i+1,p-1}(u)\\ & +\frac{p-1}{u_{i+p}-u_i}{N}_{i,p-1}(u)-\frac{p-1}{u_{i+p+1}-u_{i+1}}{N}_{i+1,p-1}(u)\\ =& \frac{p}{u_{i+p}-u_i}{N}_{i,p-1}(u)-\frac{p}{u_{i+p+1}-u_{i+1}}{N}_{i+1,p-1}(u).\end{array}$$
证毕。

B样条曲线曲面

B样条曲线的定义

$p$次B样条曲线的定义为
$$P\left(u\right)=\sum _{i=0}^n{N}_{i,p}(u)V_i,a⩽u⩽b$$
这里 { V i } \left\{V_i\right\} {Vi​}是控制点， { N i , p ( u ) } \left\{N_{i,p}(u)\right\} {Ni,p​(u)}是定义在非周期(并且非均匀)节点矢量
$$U=\left\{\underset{p+1}{\underbrace{a,\cdots ,a}},u_{p+1},\cdots ,u_{m-p-1},\underset{p+1}{\underbrace{b,\cdots ,b}}\right\}$$
(包含$m+1$个节点)上的$p$次B样条基函数。由 { V i } \left\{V_i\right\} {Vi​}构成的多边形称为控制多边形。

有理B样条曲线曲面

NURBS曲线的定义

一条$p$次NURBS曲线的定义为
$$P\left(u\right)=\frac{\sum _{i=0}^n{N}_{i,p}(u){\omega }_i{V}_i}{\sum _{i=0}^n{N}_{i,p}(u){\omega }_i},a⩽u⩽b$$
这里 { V i } \left\{V_i\right\} {Vi​}是控制点(它们形成控制多边形)， { ω i } \left\{\omega_i\right\} {ωi​}是权因子， { N i , p ( u ) } \left\{N_{i,p}(u)\right\} {Ni,p​(u)}是定义在非周期(并且非均匀)节点矢量$U$上的$p$次B样条基函数。其中
$$U=\left\{\underset{p+1}{\underbrace{a,\cdots ,a}},u_{p+1},\cdots ,u_{m-p-1},\underset{p+1}{\underbrace{b,\cdots ,b}}\right\}$$