1 Aims and Features of This Book The contents of t. his book were originally planned t. o be included in a book en titled Geometric lIIodeling and CAD/CAM to be written by M. Hosaka and F. Kimura, but since the draft. of my part of the book was finished much earlier than Kimura's, we decided to publish this part separately at first. In it, geometrically oriented basic methods and tools used for analysis and synthesis of curves and surfaces used in CAD/CAM, various expressions and manipulations of free-form surface patches and their connection, interference as well as their qualit. y eval uation are treated. They are important elements and procedures of geometric models. And construction and utilization of geometric models which include free-form surfaces are explained in the application examples, in which the meth ods and the techniques described in this book were used. In the succeeding book which Kimura is to write, advanced topics such as data structures of geometric models, non-manifold models, geometric inference as well as tolerance problems and product models, process planning and so on are to be included. Conse quently, the title of this book is changed to Modeling of Curves and Surfaces in CAD/CAM. Features of this book are the following. Though there are excellent text books in the same field such as G. Farin's Curves and Surfaces for CAD /CAM[l] and C. M. 1 Excerpts from Vector and Matrix Theory.- 1.1 Introduction.- 1.2 Notations of Vectors and Vector Arithmetic.- 1.3 Product of Vectors.- 1.3.1 Inner Product of Vectors.- 1.3.2 Vector Product.- 1.4 Triple Products.- 1.4.1 Scalar Triple Product.- 1.4.2 Vector Triple Product.- 1.4.3 Application Examples.- 1.4.4 Oblique Coordinate System.- 1.5 Differentiation of Vectors.- 1.6 Matrix Notations and Simple Arithmetic of Matrices.- 1.7 Products of Matrices.- 1.7.1 Multiplication of a Vector and a Matrix.- 1.7.2 Product of Matrices.- 1.8 Square Matrix, Inverse Matrix and Other Related Matrices.- 1.9 Principal Directions and Eigenvalues.- 2 Coordinate Transformations and Displacements.- 2.1 Introduction.- 2.2 Coordinate Transformation Matrix 1.- 2.3 Calculation of Transformation Matrix.- 2.4 Coordinate Transformation Matrix 2.- 2.5 Movement and Coordinate Transformations.- 2.6 Application Examples.- 2.6.1 Successive Rotations in Space.- 2.6.2 Rotation of a Body Around a Line in Space.- 2.6.3 Calculation of Geometric Constraints.- 2.7 Expressions of Movement of a Body by Reflection.- 2.7.1 Translation.- 2.7.2 Rotation Around an Axis.- 2.7.3 Movement by Four Mirrors.- 2.7.4 Determination of Screw Axis, Rotation Angle and Translation Distance.- 2.7.5 Displacement Matrix S and Mirror Matrix M.- 3 Lines, Planes and Polyhedra.- 3.1 Introduction.- 3.2 Equations of Straight Line and Intersection of Line Segments.- 3.3 Control Polygons and Menelaus' Theorem.- 3.4 Equations of Plane and Intersection of Line and Plane.- 3.5 Polyhedron and Its Geometric Properties 1.- 3.6 Polyhedron and Its Geometric Properties 2.- 3.7 Interference of Polyhedra.- 3.8 Local Operations for Deformation of Polyhedron.- 4 Conics and Quadrics.- 4.1 Introduction.- 4.2 Conics.- 4.2.1 Equation of Conics.- 4.2.2Transformation of Equation.- 4.2.3 Classification of Conics.- 4.2.4 Intersection of Conics.- 4.3 Quadrics.- 4.3.1 Coordinate Transformation.- 4.3.2 Classification.- 4.4 Intersection of Two Quadrics.- 5 Theory of Curves.- 5.1 Introduction.- 5.2 Tangent and Curvature of Curve.- 5.3 Binormal and Torsion of Curve.- 5.4 Expressions with Parameter t.- 5.5 Curvature of Space Curve and Its Projection.- 5.6 Implicit Expression of a Parametric Curve.- 6 Basic Theory of Surfaces.- 6.1 Introduction.- 6.2 The Basic Vectors and the Fundamental Magnitudes.- 6.3 Normal Section and Normal Curvature.- 6.4 Principal Curvatures.- 6.5 Principal Directions and Lines of Curvature.- 6.6 Derivatives of a Unit Normal and Rodrigues' Formula.- 6.7 Local Shape of Surface.- 7 Advanced Applications of Theory of Surfaces.- 7.1 Introduction.- 7.2 Umbilics.- 7.3 Characteristic Curves on a Surface 1.- 7.3.1 General Remarks.- 7.3.2 Lines of Curvature.- 7.3.3 Extremum Search Curves.- 7.3.4 Contour Curves and Their Orthogonal Curves.- 7.3.5 Equi-gradient Curves.- 7.3.6 Silhouette Curve and Silhouette Pattern.- 7.3.7 Highlight Curves.- 7.4 Characteristic Curves on a Surface 2.- 7.4.1 Gradient Extremum Curves or Ridge-Valley Curves.- 7.4.2 Loci of Zero Gaussian Curvature and Loci of Extremum Principal Curvatures.- 7.5 Offset Surfaces.- 7.6 Ruled Surfaces.- 8 Curves Through Given Points, Interpolation and Extrapolation.- 8.1 Introduction.- 8.2 Polynomial and Rational Interpolation and Extrapolation.- 8.2.1 Lagrange's Formula.- 8.2.2 Numerical Methods of Interpolated Points.- 8.2.3 Rational Function Interpolation and Extrapolation.- 8.3 Polynomial Interpolation with Constraints of Derivatives.- 8.4 Elastic Curves with Minimum Energy.- 8.5 Interpolation by Parametric Curves.- 8.6 Appendix. Derivation ofEquations by Elastic Beam Analogy.- 9 Bézier Curves and Control Points.- 9.1 Introduction.- 9.2 Curve Segment and Its Control Points.- 9.3 Bézier Curve and Its Operator Form.- 9.4 Different Expressions of B Curve.- 9.5 Derivatives at Ends of a Segment and Hodographs.- 9.6 Geometric Properties of B Curve.- 9.7 Division of a Curve Segment and Its B Polygon.- 9.8 Continuity Conditions of Connection of B Polygons.- 9
