1.

Given the Bezier curve with four control points Pi, answer the following questions:

a) What is the degree of the curve

b) Write the polynomial form of the curve
c) Calculate the coordinates of the point Q (t=0.5)
d) Calculate the tangent line at Q
e) Calculate the normal vector at Q
f) Calculate the curvature at Q
g) If you want to add another curve this existing curve such that two curves are G1
continuous, what would be conditions for the new curves control points?

a. As there are 4 control points the degree of the curve,n, is 3.

b. The polynomial form of the curve in compact form is written as follows

𝑛=3
𝑛
𝐵(𝑡) = ∑ ( ) 𝑡 𝑖 (1 − 𝑡)𝑛−𝑖 𝑃𝑖
𝑖
𝑖=0

As the above expression is written in explicit form the polynomial form of the curve is
obtained.
𝐵𝑥 (𝑡) 0 4 12
3 3 3
𝐵(𝑡) = [𝐵𝑦 (𝑡)] = ( ) 𝑡 0 (1 − 𝑡)3 [0] + ( ) 𝑡1 (1 − 𝑡)2 [5] + ( ) 𝑡 2 (1 − 𝑡)1 [ 5 ]
0 1 2
𝐵𝑧 (𝑡) 0 0 0
16
3
+ ( ) 𝑡 3 (1 − 𝑡)0 [ 0 ]
3
0

𝐵𝑥 (𝑡) 4 12 16
𝐵 (𝑡) 3 2 3 2 3
𝐵(𝑡) = [ 𝑦 ] = 3(𝑡 − 2𝑡 + 𝑡) [5] + 3(−𝑡 + 𝑡 ) [ 5 ] + 𝑡 [ 0 ]
𝐵𝑧 (𝑡) 0 0 0

𝐵𝑥 (𝑡) −8𝑡 3 + 12𝑡 2 + 12𝑡

𝐵(𝑡) = [𝐵𝑦 (𝑡)] = [ −15𝑡 2 + 15𝑡 ]
𝐵𝑧 (𝑡) 0

c. To find the coordinates of point Q, put t=0.5 in above polynomial form.

8
𝐵(𝑡 = 0.5) = [3.75]
0
d. To calculate the tangent line at Q, first calculate the derivative of the curve with respect to
parameter “t”.

𝐵𝑥′ (𝑡) −24𝑡 2 + 24𝑡 + 12

′
𝐵′(𝑡) = [𝐵𝑦 (𝑡)] = [ −30𝑡 + 15 ]
′ 0
𝐵𝑧 (𝑡)

So, the tangent line at t=0.5 is

𝐵𝑥′ (𝑡) 18
𝐵′(0.5) = [𝐵𝑦′ (𝑡)] = [ 0 ]
𝐵𝑧′ (𝑡) 0

e. This is a planar curve as the control points have only X and Y components. The Z
component was taken as 0 in the previous part of the question. The unit normal vector, N(t),
of the curve simplifies to the following form.

(−𝑌𝑇 , 𝑋𝑇 ) (−𝑌𝑇 , 𝑋𝑇 ) (0,18)

𝑁(𝑡) = = = = (0,1)
|(−𝑌𝑇 , 𝑋𝑇 )| √𝑋 2 + 𝑌 2 √02 + 182
𝑇 𝑇

f. The curvature, K(t) of the curve at point Q is calculated as follows

|(𝐵′ (𝑡)𝑥𝐵′′ (𝑡))| |[0 0 −540]| 540

𝐾(𝑡) = 3 = 3
=
|(𝐵′ (𝑡))| 18 5832

g. The control points of the new curve should be selected to satisfy G1 and G0 continuity.
The curve can be added either at the beginning (t=0) of the original curve or at the end (t=1)
of the original curve.

- If the first case is valid the last control point, Rn, of the new curve is at point P0(0,0,0) and
the line formed between (n-1)st and (n)th control points should be collinear with the line of P0
to P1.

- If the second case is valid the first control point, R1, of the new curve is at point P4(16,0,0)
and the line formed between 1st and 2nd control points should be collinear with the line of P2
to P3.
2. Given the Bezier curve with four control points Pi, answer the following questions:

N
P1=(5,4,0)

T
P0=(2,2,0)
P2=(7,1,0)

a) What is the degree of the curve

b) Write the polynomial form of the curve
c) Calculate the coordinates of the point Q since it is vertical to the control point P1
d) Calculate the tangent line at Q
e) Calculate the normal vector and binormal vector at Q
f) Calculate the curvature and the radius at Q

a. As there are 3 control points the degree of the curve,n, is 2.

b. The polynomial form of the curve in compact form is written as follows

𝑛=2
𝑛
𝐵(𝑡) = ∑ ( ) 𝑡 𝑖 (1 − 𝑡)𝑛−𝑖 𝑃𝑖
𝑖
𝑖=0

As the above expression is written in explicit form, the polynomial form of the curve is
obtained.
𝐵𝑥 (𝑡) 2 5 7
2 2 2
𝐵(𝑡) = [𝐵𝑦 (𝑡)] = ( ) 𝑡 0 (1 − 𝑡)2 [2] + ( ) 𝑡1 (1 − 𝑡)1 [4] + ( ) 𝑡 2 (1 − 𝑡)0 [1]
0 1 2
𝐵𝑧 (𝑡) 0 0 0

𝐵𝑥 (𝑡) 2 5 7
𝐵(𝑡) = [ 𝑦 (𝑡)] = (𝑡 2 − 2𝑡 + 1) [2] + 2(−𝑡 2 + 𝑡) [4] + 𝑡 2 [1]
𝐵
𝐵𝑧 (𝑡) 0 0 0

𝐵𝑥 (𝑡) −2𝑡 2 + 6𝑡 + 2
𝐵(𝑡) = [𝐵𝑦 (𝑡)] = [−5𝑡 2 + 4𝑡 + 2]
𝐵𝑧 (𝑡) 0

c. Since we know that the Q point is vertical to the control point P1, the coordinates of this
points on x direction are the same, which is 5. In order to find the y directional position of the
point Q, we have to find “t” at that point first.
We know that ,

𝐵(𝑡) = 𝐵𝑥 (𝑡) = −2𝑡 2 + 6𝑡 + 2 = 5

The roots of the equation −2𝑡 2 + 6𝑡 + 2 are 𝑥1,2 = (2.366 , 0.634)

When we put x=2.366 in the By equation we obtain By=-16,52, so this root is not appropriate
for us, also we know that 0 ≤ 𝑡 ≤ 1.

When we put x=0,634 in the By equation we obtain By=2.52.

Then the coordinates of point Q is given as,

5
𝐵(𝑡 = 0.634) = [2.52]
0

d. To calculate the tangent line at Q, first calculate the derivative of the curve with respect to
parameter “t”.

𝐵𝑥′ (𝑡) −4𝑡 + 6

𝐵′(𝑡) = [𝐵𝑦′ (𝑡)] = [−10𝑡 + 4]
𝐵𝑧′ (𝑡) 0

3.46
𝐵′ (𝑡 = 0.634) = [−2.34]
0

e. This is a planar curve as the control points have only X and Y components. The Z
component was taken as 0 in the previous part of the question. The unit normal vector, N(t),
of the curve simplifies to the following form.

(−𝑌𝑇 , 𝑋𝑇 ) (−𝑌𝑇 , 𝑋𝑇 ) (2.34 , 3.46) (3.46 , −2.34)

𝑁(𝑡) = = = =( ) = (0.83 , −0.56)
|(−𝑌𝑇 , 𝑋𝑇 )| √𝑋 2 + 𝑌 2 √3.462 + (−2.34)2 4.17
𝑇 𝑇

Binormal vector of a curve is calculated using the formula below,

𝑏(𝑡) = 𝐵′ × 𝐵′′

So we have to find the second derivative of the curve which is,

𝐵𝑥′′ (𝑡) −4
𝐵′′(𝑡) = [𝐵𝑦′′ (𝑡)] = [−10]
𝐵𝑧′′ (𝑡) 0

The binormal vector at point Q can be found as follows

3.46 −4 0
𝑏(𝑡 = 0.634) = 𝐵′ × 𝐵′′ = [−2.34] × [−10] = [ 0 ]
0 0 43.96
f. The curvature, K(t) of the curve at point Q is calculated as follows

|(𝐵′ (𝑡)𝑥𝐵′′ (𝑡))| |[0 0 43.96]| 43.96

𝐾(𝑡) = 3 = = = 0.6
|(𝐵′ (𝑡))| 4.173 72.51

The radius of the curve is given with the following equation,

1
𝑟(𝑡) = = 1.66
𝐾(𝑡)