SOME 024:

Computer Aided Design

E. Rozos
Introduction to CAD theory
part 1
 Lesson structure
• Definitions (raster-vector, topology-geometry,
coordinates, projections)
• Basic 2D shapes
• 3D geometric modelling
• Parametric shapes
• Surface modelling
 Definitions-type of graphics
Raster graphics
The objects are represented with
a set of pixels-cells laid on a grid.

Vector graphics
The objects are represented
with geometrical primitives.
 Definitions-type of graphics
Raster graphics
Applications: link the spatial data with other kind of information (e.g.
height, temperature, mean annual rainfall), spatial related operations
(aggregation, interpolation), spatial queries, spatial statistics, 2D numerical
models.
Data storage: binary with the form of a 2D matrix

Vector graphics
Applications: Geometrical operations (intersections, union), objects are
handled as entities, representation accuracy.
Data storage: parametrically using analytical forms
 Definitions-topology geometry
Topology
The branch of mathematics dealing with the Connectivity of geometric
elements not including specific information of those elements.

Topological
representation of
the Internet

Geometry
The branch of mathematics dealing with the measurements of lines, angles,
surfaces and solids.
 Definitions-coordinate types
Cartesian coordinates

2D cartesian coordinates (x,y) 3D cartesian coordinates (x,y,z)

Suitable for spaces described by Euclidian geometry.

 Definitions-coordinate types
Homogeneous coordinates

2D Homogeneous coordinates (x,y,w).

Each point on plain W=1 is associated
with a line joining it with the origin of the
3D space.

W=1 plane

Rotation of cone of
Transformation of a circle disk to Lines about the Y axis

elliptical disk. Circular

disc

Elliptical
disc

W=1 plane
 Definitions-coordinate types
Transformations
Translation, rotation, reflection, scaling, inversion, shearing.
Corner Original New
points coordinates coordinates

Translation P1 (2,4.5,1) (6,4.5,1)

P2 (3,2.5,1) (7,2.5,1)

P3 (2,2.5,1) (6,2.5,1)

P4 (2,2.5,-2) (6,2.5,-2)

P5 (3,2.5,-2) (7,2.5,-2)

P6 (2,4.5,-2) (6,4.5,-2)

Corner Original New

points coordinates coordinates
P1 (2,4.5,1) (-4.5,2,1)

Rotation P2 (3,2.5,1) (-2.5,3,1)

P3 (2,2.5,1) (-2.5,2,1)

P4 (2,2.5,-2) (-2.5,2,-2)

P5 (3,2.5,-2) (-2.5,3,-2)

P6 (2,4.5,-2) (-4.5,2,-2)
 Definitions-coordinate types
Mathematic implementation of the transformations using 3D homogeneous
coordinates.
1 0 0 0 1 0 0 ∆x

0 cos θ -sin θ 0 0 1 0 ∆y
Rotation around x Rx= Translation T=
0 sin cos θ 0 0 0 1 ∆z

0 0 0 1 0 0 0 1

cos θ 0 sin θ 0 Sx 0 0 0
0 1 0 0 0 Sy 0 0
Rotation around y Ry= Scaling S=
-sin θ 0 cos θ 0 0 0 Sz 0
0 0 0 1 0 0 0 1

Apply translation, rotation around

cos θ -sin θ 0 0
x, rotation around y to P1:
sin cos θ 0 0
Rotation around z Rz= P2=RyRxT P1
0 0 1 0 Undo:
0 0 0 1 P1=T-1 Rx-1 Ry-1 P2
 Definitions-coordinate types
2D polar coordinates (r, θ)
x = r cosθ, y = r sinθ
Applications in problems with
circular symmetry (point heat source
in an infinite plate)

3D cylindrical coordinates (r, θ, Z)

x = r cosθ, y = r sinθ, z = Z

3D spherical coordinates (r, θ, φ)

x = r sinφ cosθ, y = r sinφ sinθ, z = r cosφ
Applied in non Euclidean spaces.
 Definitions-projection types
Parallel projection

Oblique, only sizes parallel to

projection plane are preserved

Isometric, axes equally foreshortened

 Definitions-projection types
Orthographic Multi-views projection
1st angle projection
(viewer inside box)

3rd angle projection

(viewer outside box)
 Definitions-projection types
Perspective projection
3d object

Easy to conceive the 3D form,

Eye Projection plane shape and size to scale are
not preserved
 Basic 2D shapes-line segment

Two points Tangent to a circle

Parallel to an axis

Parallel to lin. seg. Parallel to a lin. seg. From a point with

through specified point at specified distance specified length and angle
 Basic 2D shapes-circle, arc

Centre, peripheral point Centre, radius Two points

Tangent to figure
Centre, start, end point Three points
given radius + end
point.
 Wire frame modelling
A wire frame representation of a 3D object consist of a
finite set of points (vertices) and connecting edges. The
representation is a trade of between fidelity and easiness
of representation.

The wire frame representation consist of two types of

information concerning:

1. The geometric data (coordinate positions of the

vertices)
2. The topological data (relate pairs of vertices together
as edges)
 3D geometric modelling

Geometric data Topological data

The simplest representation of a cone with only 3 vertices, 1 vertex for

the apex, 2 vertices defining the diameter of the base. The fidelity may be
improved by adding more vertices to the base.
 3D geometric modelling
Low level constrains
• Each vertex described by 3 coordinate values
• Each edge associated with only 2 vertices
• Edges must form close loops
• Edges should not intersect

Object validity is not guaranteed

Parametric curve and surface geometry
Parametric form of a straight line with 2 control points (p1, p2)
r(u) = (1-u) p1 + u p2
p2

u
p1

Parametric bilinear surface with 4 control points (p1, p2, p3, p4)
r(u,v) = (1-v) (1-u) p1 + (1-v) u p2 + v (1-u) p3 + v u p4
Parametric curve and surface geometry

Bezier cubic parametric curve 4 control points

(p1, q1, q2, p2)
r(u) = (1-u)3 p1 + 3u(1-u)2 q1 + 3u2 (1-u) q2 + u3 p2

Bezier bicubic parametric patch with 16

control points (p1,…, p4, q1,…, q12)
Parametric curve and surface geometry
Splines

For n given points there exists a

unique polynomial of degree n-1 or
less which passes through these
points.

A spline is a piecewise polynomial

such that the function (G0), its
derivative (G1) and its second
derivative (G2) are continuous at the
interpolation nodes.
Parametric curve and surface geometry
Non uniform rational Basis-Splines (NURBS)
A NURBS curve is defined by:
• its order i.e. the maximum degree of the polynomial basis
functions.
• a set of control points i.e. the points from which the curve passes.
• a knot vector that determines where and how the control points
affect the NURBS curve; the number of knots is always equal to
the number of control points plus curve degree plus one.
 Parametric curve and surface geometry
Non uniform rational Basis-Splines (NURBS)
Basis functions used in NURBS.
Ni,n = fi,nNi,n-1 + gi+1,nNi+1,n−1
where i the ith control point, n degree of basis function, f and g
weigthing functions depending on knots.
N0,2 Control points (cp) 1 2 3

f g
From here to here
Control Curve N1,1 Knot cp 1 deactivated, cp 3 activated
N0,1
points degree span

Knots (2 + 1 +1) 0 1 2 2.5

Control points 0 1
 Surface modelling
Test the aesthetic and functionality of surfaces in components
such as car bodies or simulated the fluid dynamics (turbine
blades, boat hulls, etc.)

Creation methods
1. The user supplies an array of control points. The surface
modeller fits a Bezier bicubic parametric patch to the
control features.
2. The 3D surface is created either by sweeping a curve
along a guide rail or by lofting a mesh of curves.
Surface modelling

Lofting