13.472J/1.128J/2.158J/16.
940J
COMPUTATIONAL GEOMETRY
Lecture 3
Kwanghee Ko
T. Maekawa
N. M. Patrikalakis
Massachusetts Institute of Technology
Cambridge, MA 02139-4307, USA
Copyright c 2003 Massachusetts Institute of Technology
Contents
3 Differential geometry of surfaces 2
3.1 Definition of surfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
3.2 Curves on a surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
3.3 First fundamental form (arc length) . . . . . . . . . . . . . . . . . . . . . . . . 4
3.4 Tangent plane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3.5 Normal vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3.6 Second fundamental form II (curvature) . . . . . . . . . . . . . . . . . . . . . . 8
3.7 Principal curvatures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Bibliography 13
Reading in the Textbook
• Chapter 3, pp.49 - pp.72
1
Lecture 3
Differential geometry of surfaces
3.1 Definition of surfaces
• Implicit surfaces F (x, y, z) = 0
2 2 2
Example: xa2 + yb2 + zc2 = 1 Ellipsoid, see Figure 3.1.
z
x
Figure 3.1: Ellipsoid.
• Explicit surfaces
If the implicit equation F (x, y, z) = 0 can be solved for one of the variables as a function
of the other two, we obtain an explicit surface, as shown in Figure 3.2. Example: z =
1 2 2
2 (αx + βy )
• Parametric surfaces x = x(u, v), y = y(u, v), z = z(u, v)
Here functions x(u, v), y(u, v), z(u, v) have continuous partial derivatives of the r th order,
and the parameters u and v are restricted to some intervals (i.e., u 1 ≤ u ≤ u2 , v1 ≤ v ≤ v2 )
leading to parametric surface patches. This rectangular domain D of u, v is called
parametric space and it is frequently the unit square, see Figure 3.3. If derivatives of the
surface are continuous up to the r th order, the surface is said to be of class r, denoted
C r.
2
Figure 3.2: Explicit quadratic surfaces z = 12 (αx2 + βy 2 ). (a) Left: Hyperbolic paraboloid
(α = −3, β = 1). (b) Right: Elliptic paraboloid (α = 1, β = 3).
In vector notation:
r = r(u, v)
where r = (x, y, z), r(u, v) = (x(u, v), y(u, v), z(u, v))
Example:
r = (u + v, u − v, u2 + v 2 )
x=u+v
1 2
y =u−v ⇒ eliminate u, v ⇒ z = (x + y 2 ) paraboloid
2
z = u2 + v 2
3.2 Curves on a surface
Let r = r(u, v) be the equation of a surface, defined on a domain D (i.e., u 1 ≤ u ≤ u2 ,
v1 ≤ v ≤ v2 ). Let β(t) = (u(t), v(t)) be a curve in the parameter plane. Then r = r(u(t), v(t))
is a curve lying on the surface, see Figure 3.3. A tangent vector of curve β(t) is given by
β̇(t) = (u̇(t), v̇(t)) A tangent vector of a curve on a surface is given by:
dr(u(t), v(t))
(3.1)
dt
By using the chain rule:
dr(u(t), v(t)) ∂r du ∂r dv
= + = ru u̇(t) + rv v̇(t) (3.2)
dt ∂u dt ∂v dt
3
v z
r(u,v)
D
u y
r(u(t),v(t))
β(t)=(u(t),v(t))
x
Parametric Space D 3D Space
Figure 3.3: The mapping of a curve in 2D parametric space onto a 3D biparametric surface
.
3.3 First fundamental form (arc length)
Consider a curve on a surface r = r(u(t), v(t)). The arc length of the curve on a surface is
given by
dr du dv
ds = | |dt = |ru + rv |dt
dt dt dt
q
= (ru u̇ + rv v̇) · (ru u̇ + rv v̇)dt
q
= (ru · ru )du2 + 2ru rv dudv + (rv · rv )dv 2
p
= Edu2 + 2F dudv + Gdv 2 (3.3)
where
E = r u · ru , F = r u · rv , G = r v · rv (3.4)
The first fundamental form is defined as
I = dr · dr = (ru du + rv dv) · (ru du + rv dv)
= Edu2 + 2F dudv + Gdv 2 (3.5)
E, F , G are called first fundamental form coefficients Note that E = r u · ru > 0 and G =
rv · rv > 0 if ru 6= 0 and rv 6= 0. The first fundamental form I is positive definite. That is I ≥ 0
and I = 0 if and only if du = 0 and dv = 0 since
1 EG − F 2 2
I= (E du + F dv)2 + dv and EG − F 2 = |ru × rv |2 > 0.
E E
I depends only on the surface and not on the parametrization.
The area of the surface can be derived as follows:
4
δA
r(u0,v0+δv) r(u0+δu,v0)
r(u0,v0+δv)−r(u0,v0) r(u0+δu,v0)−r(u0,v0)
r(u0,v0)
Figure 3.4: Area of an infinitessimal surface patch.
∂r
r(u0 , v0 + δv) − r(u0 , v0 ) ' δv
∂v
∂r
r(u0 + δu, v0 ) − r(u0 , v0 ) ' δu
∂u
δA = |ru δu × rv δv| = |ru × rv |δuδv
|ru × rv |2 = (ru × rv ) · (ru × rv )
Using the vector identity (a × b) · (c × d) = (a · c)(b · d) − (a · d)(b · c), we get
|ru × rv |2 = (ru · ru )(rv · rv ) − (ru · rv )2 (3.6)
2
= EG − F (3.7)
p Z Z p
δA = EG − F2 δuδv, A= EG − F 2 dudv (3.8)
Example: For the hyperbolic paraboloid r(u, v) = (u, v, u 2 −v 2 ), let us derive an expression
for the area of a region of its surface corresponding to a the circle u 2 + v 2 ≤ 1 in the parametric
domain D.
We begin by forming expressions for the derivatives of the position vector r and the first
fundamental form coeffients.
ru = (1, 0, 2u)
rv = (0, 1, −2v)
E = ru · ru = 1 + 4u2
F = ru · rv = −4uv
G = rv · rv = 1 + 4v 2
Using Equation (3.8), we find
EG − F 2 = (1 + 4u2 )(1 + 4v 2 ) − 16u2 v 2 = 1 + 4u2 + 4v 2 > 0
Z Z p
A = 1 + 4u2 + 4v 2 dudv
D
5
To compute the area, we need to evaluate the double integral over the unit disk u 2 + v 2 ≤ 1
in the parametric domain D;
Z Z p
A= 1 + 4u2 + 4v 2 du dv.
u2 +v 2 ≤1
To perform the integration, let us change variables.
u = r cos(θ), v = r sin(θ), and du dv = r dr dθ
Z Z p
A = 1 + 4r 2 r dr dθ
r≤1
Z 2π Z 1 p
= 1 + 4r 2 r dr dθ
0 0
π √
= (5 5 − 1)
6
3.4 Tangent plane
Tangent plane at a point r(uo , vo ) is the union of tangent vectors of all curves on the surface pass
through r(uo , vo ), as shown in Figure 3.5. Since the tangent vector of a curve on a parametric
surface is given by dr du dv
dt = ru dt + rv dt , the tangent plane lies on the plane of the vectors r u and
rv . The equation of the tangent plane is
Tp (u, v) = r(u, v) + λru (u, v) + µrv (u, v) (3.9)
where λ and µ are real variables parameterizing the plane.
z
r=ruu+rvv
Tp
r(u0,v0)
y
Figure 3.5: The tangent plane at a point on a surface.
3.5 Normal vector
The surface normal is the vector at point r(u o , vo ) perpendicular to the tangent plane, see
Figure 3.6. And therefore
ru × r v
N= (3.10)
|ru × rv |
Note that ru and rv are not necessarily perpendicular.
6
z
rv
Tp ru
y
Figure 3.6: The normal to the point on a surface.
A regular (ordinary) point P on the surface is defined as one for which r u × rv 6= 0. A point
where ru × rv = 0 is called a singular point. The condition r u × rv 6= 0 requires that at that
point P the vectors ru and rv do not vanish and have different directions.
Example: Elliptic Paraboloid r(u, v) = (u + v, u − v, u 2 + v 2 )
ru = (1, 1, 2u)
rv = (1, −1, 2v)
ex ey ez
ru × r v = 1 1 2u
1 −1 2v
= 2(u + v)ex + 2(u − v)ey − 2ez 6= 0
q
|ru × rv | = 2 (u + v)2 + (u − v)2 + 1
p
= 2 2u2 + 2v 2 + 1 > 0 ⇒ Regular !
(2(u + v), 2(u − v), −2)
N = √
2 2u2 + 2v 2 + 1
(u + v, u − v, −1)
= √
2u2 + 2v 2 + 1
at (u, v) = (0, 0), N = (0, 0, −1)
Example: Circular Cone r(u, v) = (u sin α cos v, u sin α sin v, u cos α), see Figure 3.7
ru = (sin α cos v, sin α sin v, cos α)
rv = (−u sin αsinv, u sin αsinv, 0)
ex ey ez
ru × r v = sin α cos v sin α sin v cos α
−u sin α sin v u sin α cos v 0
7
z
usinα
p
α u
u
α
usinαsinv y
singular
v
x usinαcosv
Figure 3.7: Circular cone.
= −u sin α cos α cos vex − u sin α cos α sin vey + u sin2 αez
At the origin n = 0,
ru × r v = 0
Therefore, the apex of the cone is a singular point.
3.6 Second fundamental form II (curvature)
S P
t
n
kn
C
kg k
Figure 3.8: Definition of normal curvature
In order to quantify the curvatures of a surface S, we consider a curve C on S which passes
through point P as shown in Figure 3.8. t is the unit tangent vector and n is the unit normal
vector of the curve C at point P .
dt
= κn = kn + kg (3.11)
ds
kn = κ n N (3.12)
where kn is the normal curvature vector normal to the surface, k g is the geodesic curvature
vector tangent to the surface, and k = κn is the curvature vector of the curve C at point P.
κn is called the normal curvature of the surface at P in the direction t.
8
Meusnier’s Theorem : All curves lying on a surface S passing through a given point
p ∈ S with the same tangent line have the same normal curvature at this point.
Since N · t = 0, differentiate w.r.t. s
d
(N · t) = N0 · t + N · t0
ds
dt dN dr dN
· N = −t · =− · (3.13)
ds ds ds ds
Recoginizing that ds · ds = dx2 + dy 2 + dz 2 = dr · dr, we can rewrite Equation 3.13 as:
dt dr · dN
·N = =−
ds dr · dr
dt
while · N = κn · N ≡ κn
ds
center of curvature N
P
P
center of curvature
(a) (b)
Figure 3.9: Definition of positive normal: (a) κn · N = κ n ; (b) κn · N = −κn .
II = −dr · dN = −(ru du + rv dv) · (Nu du + Nv dv)
= Ldu2 + 2M dudv + N dv 2 (3.14)
where
L = N · ruu , M = N · ruv , N = N · rvv (3.15)
Therefore the normal curvature is given by
II L + 2M λ + N λ2
κn = = (3.16)
I E + 2F λ + Gλ2
dv
where λ = du .
Suppose P is a point on a surface and Q is a point in the neighborhood of P , as in
Figure 3.10. Taylor’s expansion gives
1
r(u + du, v + dv) = r(u, v) + ru du + rv dv + (ruu du2 + 2ruv dudv + rvv dv 2 ) + H.O.T. (3.17)
2
9
N r=r(u,v)
d
P
Tp
Figure 3.10: Geometrical illustration of the second fundamental form.
Therefore
1
PQ = r(u + du, v + dv) − r(u, v) = ru du + rv dv + (ruu du2 + 2ruv dudv + rvv dv 2 ) + H.O.T.
2
Thus, the projection of PQ onto N
1
d = PQ · N = (ru du + rv dv) · N + II
2
and since ru · N = rv · N = 0, we get
1 1
d = II = (Ldu2 + 2M dudv + N dv 2 )
2 2
We want to observe in which situation d is positive and negative. When d = 0
Ldu2 + 2M dudv + N dv 2 = 0
Solve for du
p √
−M ± (M dv)2 − LN dv 2 −M ± M 2 − LN
du = = dv (3.18)
L L
N N
N
P Tp
Tp P P
Tp
Figure 3.11: (a) Elliptic point; (b) Parabolic point; (c) Hyperbolic point.
• If M 2 −LN < 0, there is no real root. That means there is no intersection between the surface
and its tangent plane except at point P . P is called elliptic point (Figure 3.11(a)).
• If M 2 − LN = 0, there is a double root. The surface intersects its tangent plane with one line
du = − M
L dv, which passes through point P . P is called parabolic point (Figure 3.11(b)).
• If M 2 − LN > 0, there
√ are two roots. The surface intersects its tangent plane with two
2
lines du = −M ± LM −LN dv, which intersect at point P . P is called hyperbolic point
(Figure 3.11(c)).
10
3.7 Principal curvatures
dκn
The extreme values of κn can be obtained by evaluating dλ = 0 of Equation 3.16, which gives:
(E + 2F λ + Gλ2 )(N λ + M ) − (L + 2M λ + N λ2 )(Gλ + F ) = 0 (3.19)
Since
E + 2F λ + Gλ2 = (E + F λ) + λ(F + Gλ),
L + 2M λ + N λ2 = (L + M λ) + λ(M + N λ)
equation (3.19) can be reduced to
(E + F λ)(M + N λ) = (L + M λ)(F + Gλ) (3.20)
Thus
L + 2M λ + N λ2 M + Nλ L + Mλ
κn = 2
= = (3.21)
E + 2F λ + Gλ F + Gλ E + Fλ
Therefore κn satisfies the two simultaneous equations
(L − κn E)du + (M − κn F )dv = 0
(M − κn F )du + (N − κn G)dv = 0 (3.22)
These equations can be simultaneously satisfied if and only if
L − κn E M − κn F
=0 (3.23)
M − κn F N − κn G
where | | denotes the determinant of a matrix. Expanding and defining K and H as
LN − M 2
K = (3.24)
EG − F 2
EN + GL − 2F M
H = (3.25)
2(EG − F 2 )
we obtain a quadratic equation for κ n as follows:
κ2n − 2Hκn + K = 0 (3.26)
The values K and H are called Gauss (Gaussian) and mean curvature respectively. The
discriminant D can be expressed as follows:
D = H2 − K
(EN + GL − 2F M )2 − 4(EG − F 2 )(LN − M 2 )
=
4(EG − F 2 )2
The denominator is always positive, so we only need to investigate the numerator. The numer-
ator can be written as:
(EN + GL − 2F M )2 − 4(EG − F 2 )(LN − M 2 )
!
EG − F 2 2F
=4 2
(EM − F L)2 + [EN − GL − (EM − F L)]2 ≥ 0
E E
11
Thus, D ≥ 0.
Upon solving Equation (3.26) for the extreme values of curvature, we have:
p
κmax = H + H2 − K (3.27)
p
κmin = H − H2 −K (3.28)
From Equations (3.27), (3.28), it is readily seen that
K = κmax κmin (3.29)
κmax + κmin
H = (3.30)
2
From Equation (3.24) (since EG − F 2 > 0, see Equation 3.6).
K > 0 ⇒ LN > M 2 ⇒ Elliptic point
K = 0 ⇒ LN = M 2 ⇒ Parabolic point
K < 0 ⇒ LN < M 2 ⇒ Hyperbolic point
K<0
K=0
K>0
Figure 3.12: Curvature map of a torus showing elliptic, parabolic, and hyperbolic regions.
12
Bibliography
[1] P. M. do Carmo. Differential Geometry of Curves and Surfaces. Prentice-Hall, Inc., Engle-
wood Cliffs, NJ, 1976.
[2] E. Kreyszig. Differential Geometry. University of Toronto Press, Toronto, 1959.
[3] M. M. Lipschutz. Theory and Problems of Differential Geometry. Schaum’s Outline Series:
McGraw-Hill, 1969.
[4] D. J. Struik. Lectures on Classical Differential Geometry. Addison-Wesley, Cambridge,
MA, 1950.
[5] T. J. Willmore. An Introduction to Differential Geometry. Clarendon Press, Oxford, 1959.
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