Contents

PREFACE xvii Stereoscopic and Virtual-Reality

Systems
A Survey of Computer
1 Graphics 2
2-2 Raster-Scan System!;
Video Controller
Raster-Scan Display Processor
Computer-Aided Design 2-3 Random-Scan Systems
Presentation Graphics 'I 2-4 Graphics Monitors and Workstations
Computer Art l 3 2-5 Input Devices
Entertainment 18 Keyboards
Education and Training 21 Mouse
Visualization 25 Trackball and Spaceball
Image Processing 32 Joysticks
Graphical User Interfaces 34 Data Glove
Digitizers
Image Scanners
Touch Panels
Overview of Graphics Light Pens

2 systems 35 2-6
Voice Systems
Hard-Copy Devices
2-1 VideoDisplayDevices 36 2-7 Graphics Software
Refresh Cathode-Ray Tubes 37 Coordinate Representations
Raster-Scan Displays 40 Graphics Functions
Random-Scan Displays 41 Software Standards
Color CRT Monitors 42 PHIGS Workstations
Direct-View Storage Tubes 4.5 Summary
Flat-Panel Displays 45 References
Three-Dimensional Viewing Devices 49 Exercises

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 Contents

Summary
3 Outout Primitives 83 Applications
References
Points and Lines Exercises
Line-Drawing Algorithms
DDA Algorithm
Bresenham's Line Algorithm
Parallel Line Algorithms Attributes of Output
Loading the Frame Buffer Primitives 143
Line Function
Circle-Generating Algorithms Line Attributes
Properties of Circles Line Type
Midpoint Circle Algorithm Line Width
Ellipse-Generating Algorithms Pen and Brush Options
Properties of Ellipses Line Color
Midpoint Ellipse Algorithm Curve Attributes
Other Curves Color and Grayscale Levels
Conic Sections Color Tables
Polynomials and Spline Curves Grayscale
Parallel Curve Algorithms Area-Fill Attributes
Curve Functions Fill Styles
Pixel Addressing Pattern Fill
and Object Geometry Soft Fill
Screen Grid Coordinates Character Attributes
Maintaining Geometric Properties Text Attributes
of Displayed Objects Marker Attributes
Filled-Area Primitives Bundled Attributes
Scan-Line Polygon Fill Algorithm Bundled Line Attributes
Inside-Outside Tests Bundled Area-Fi Attributes
Scan-Line Fill of Curved Boundary Bundled Text Attributes
Areas Bundled Marker Attributes
Boundary-Fill Algorithm
Inquiry Functions
Flood-FillAlgorithm
Antialiasing
Fill-Area Functions Supersampling Straight Line
Cell Array Segments
Character Generation Pixel-Weighting Masks
 Contents

Area Sampling Straight Line 5-6 Aff ine Transformations 208

Segments 174 5-7 Transformation Functions 208
Filtering Techniques 174 5-8 Raster Methods for Transformations 210
Pixel Phasing 175
Summary 212
Compensating for Line lntensity
References 21 3
Differences 1 75
Antialiasing Area Boundaries 176 Exercises 213
Summary
Two-Dimensional
References
Exercises 180 6 Viewing 21 6
6-1 The Viewing Pipeline
6-2 Viewing Coordinate Reference Frame
Two-Dimensional Geometric
5 Transformations 183
6-3 Window-teviewport Coordinate
Transformation
Two-Dimensional Wewing Functions
5-1 Basic Transformations
Translation Clipping Operations
Rotation Point Clipping
Scaling Line Clipping
5-2 Matrix Representations Cohen-Sutherland Line Clipping
and Homogeneous Coordinates Liang-Barsky Line Clipping
5-3 Composite Transformations Nicholl-Lee-Nicholl Line Clipping
Translations Line Clipping Using Nonrectangular
Rotations Clip Windows
Scalings Splitting Concave Polygons
General Pivot-Point Rotation Polygon Clipping
General Fixed-Point Scaling Sutherland-Hodgernan Polygon
Clipping
General Scaling Directions
Weiler-Atherton Polygon Clipping
Concatenation Properties
Other Polygon-Clipping Algorithms
General Composite Transformations
and Computational Efficiency Curve Clipping
5-4 Other Transformations Text Clipping
Reflection Exterior Clipping
Shear Summary
5-5 Transformations Between Coordinate References
Systems 205 Exercises
 Structures and Hierarchical Accommodating Multiple
7 Modeling 250
Skill Levels
Consistency
Minimizing Memorization
7-1 Structure Concepts 250
Basic Structure Functions 250 Backup and Error Handling
Setting Structure Attributes 253 Feed back
7-2 Editing Structures 254 8-2 lnput of Graphical Data
Structure Lists and the Element Logical Classification of Input
Pointer 255 Devices
Setting the Edit Mode 250 Locator Devices
Inserting Structure Elements 256 Stroke Devices
Replacing Structure Elements 257 String Devices
Deleting Structure Elements 257 Valuator Devices
Labeling Structure Elements 258 Choice Devices
Copying Elements from One Structure Pick Devices
to Another 260 8-3 lnput Functions
7-3 Basic Modeling Concepts 260 Input Modes
Mode1 Representations 261 Request Mode
Symbol Hierarchies 262 Locator and Stroke Input
Modeling Packages. 263 in Request Mode
7-4 Hierarchical Modeling String Input in Request Mode
with Structures 265 Valuator Input in Request Mode
Local Coordinates and Modeling Choice lnput in Request Mode
Transformations 265 Pick Input in Request Mode
Modeling Transformations 266 Sample Mode
Structure Hierarchies 266 Event Mode
Summary 268 Concurrent Use of Input Modes
References 269 8-4 Initial Values for Input-Device
Exercises 2 69 Parameters
8-5 lnteractive Picture-Construction
Techniques
Basic Positioning Methods
Graphical User Interfaces Constraints
and Interactive lnput
8 Methods 271
Grids
Gravity Field
Rubber-Band Methods
8-1 The User Dialogue Dragging
Windows and Icons Painting and Drawing
8-6 Virtual-Reality Environments 292 10-4 Superquadrics
Summary 233 Superellipse
References 294 Superellipsoid
Exercises 294 10-5 Blobby Objects
10-6 Spline Representations
Interpolation and Approximation
Splines
Three-Dimensional
9 Concepts 296
Parametric Continuity
Conditions
Geometric Continuity
9-1 Three-Dimensional Display Methods Conditions
Parallel Projection Spline Specifications
Perspective Projection Cubic Spline Interpolation
Depth Cueing Methods
Visible Line and Surface Natural Cubic Splines
Identification Hermite Interpolation
Surface Rendering Cardinal Splines
Exploded and Cutaway Views Kochanek-Bartels Splines
Three-Dimensional and Stereoscopic Bezier Curves and Surfaces
Views Bezier Curves
9-2 Three-Dimensional Graphics Properties of Bezier Curves
Packages 302 Design Techniques Using Bezier
Curves
Cubic E z i e r Curves
Three-Dimensional Bezier Surfaces
B-Spline Curves and Surfaces
B-Spline Curves
Uniform, Periodic B-Splines
Cubic, Periodic €3-Splines
10-1 Polygon Surfaces Open, Uniform B-Splines
Polygon Tables Nonuniform 13-Splines
Plane Equations B-Spline Surfaces
Polygon Meshes
Beta-Splines
10-2 Curved Lines and Surfaces Beta-Spline Continuity
10-3 Quadric Sutiaces Conditions
Sphere Cubic, Periodic Beta-Spline
Ellipsoid Matrix Representation
Torus Rational Splines
 Contents

Conversion Between Spline Visual Representations

Representations for Multivariate Data Fields 402
Displaying Spline Curves Summary 404
and Surfaces References 404
Homer's Rule
Exercises 404
Forward-Difference Calculations
Subdivision Methods
Sweep Representations Three-Dimensional
Constructive Solid-Geometry Geometric and Modeling
Methods
Octrees
11 Transformations 407
BSP Trees Translation 408
Fractal-Geometry Methods Rotation 409
Fractal-Generation Procedures Coordinate-Axes Rotations 409
Classification of Fractals General Three-Dimensional
Fractal Dimension Rotations 413
Geometric Construction Rotations with Quaternions 419
of Deterministic Self-Similar Scaling 420
Fractals
Other Transformat~ons 422
Geometric Construction
Reflections 422
of Statistically Self-Similar
Fractals Shears 423
Affine Fractal-Construction Conlposite Transformations 423
Methods Three-Dimens~onalTransformation
Random Midpoint-Displacement Functions 425
Methods Modeling and Coordinate
Controlling Terrain Topography Transformations 426
Self-squaring Fractals Summary 429
Self-inverse Fractals References 429
Shape Grammars and Other Exercises 430
Procedural Methods
Particle Systems
Three-Dimensional
Physically Based Modeling
Visualization of Data Sets
Visual Representations
12 Viewing 431
for Scalar Fields 12-1 Viewing Pipeline 432
VisuaI Representations 12-2 Viewing Coordinates 433
for Vector Fields Specifying the Virbw Plane 433
Visual Representations Transformation from World
for Tensor Fields- 40 1 to Viewing Coordinates 437
xii
 Contents

Projections 1 3-1 2 Wireframe Methods 490

Parallel Projections 13-1 3 Visibility-Detection Functions 490
Perspective IJrojections Summary 49 1
View Volumes and General Keferences 492
Projection Transformations
Exercises 49 2
General Parallel-Projection
Transformations
General Perspective-Projection
Transformations lllumination Models
and Surface-Rendering
Clipping
Normalized View Volumes
Viewport Clipping
14 Methods 494
Clipping in Homogeneous Light Sources
Coordinates Basic lllumination Models
Hardware Implementations Ambient Light
Three-Dimensional Viewing Diffuse Reflection
Functions Specular Reflection
Summary and the Phong Model
References Combined Diffuse and Specular
Exercises Reflections with Multiple Light
Sources
Warn Model
Visi ble-Su dace Detection Intensity Attenuation
Met hods 469 Color Considerations
Transparency
Classification of Visible-Surface Shadows
D~tectionAlgorithms Displaying Light Intensities
Back-Face Detection Assigning Intensity Levels
Depth-Buffer Method Gamma Correction and Video
A-Buffer Method Lookup Tables
Scan-Line Method Displaying Continuous-Tone
Images
Depth-Sorting Method
Halftone Patterns and Dithering
BSP-Tree Method Techniques
Area-Subdivision Method Halftone Approximations
Octree Methods Dithering Techniques
Ray-Casting Met hod Polygon-Rendering Methods
Curved Surfaces Constant-Intensity Shading
Curved-Surface Representations Gouraud Shading
Surface Contour Plots Phong Shading
 Contents

Fast Phong Shading 15-6 CMY Color Model

Ray-Tracing Methods 15-7 HSV Color Model
Basic Ray-Tracing Algorithm 15-8 Conversion Between HSV
Ray-Surface Intersection and RGB Models
CaIculations 15-9 HLS Color Model
Reducing Object-Intersection 1 5-1 0 Color Selection
Calculations and Applications
Space-Subdivision Methods Summary
AntiaIiased Ray Tracing Reierences
Distributed Ray Tracing
Exercises
Radiosity Lighting Model
Basic Radiosity Model
Computer
Progressive Refinement
Radiosity Method
Environment Mapping
16 Animation 583
Adding Surface Detail 14-1 Design of Animation Sequences
Modeling Surface Detail 16-2 General Computer-Animation
with Polygons Functions
Texture Mapping 16-3 Raster Animations
Procedural Texturing 16-4 Computer-Animation Languages
Methods
16-5 Key-Frame Systems
Bump Mapping Morphing
Frame Mapping Simulating Accelerations
Summary 16-6 Motion Specifications
References Direct Motion Specification
Exercises Goal-Directed Systems
Kinematics and Dynamics
Color Models and Color Summary
A .p,d ications 564 References
Exercises 597
15-1 Properties of Light 565
15-2 Standard Primaries and the
Chromaticity Diagram
XYZ Color Model
568
569
A Mathematics for Computer
Graphics 599
CIE Chromaticity Diagram
569 A-1 Coordinate-Reference Frames 600
1 5-3 Intuitive Color Concepts 571 Two-Dimensional Cartesian
15-4 RGB Color Model 572 Reference Frames 600
15-5 Y I Q Color Model 5 74 Polar Coordinates in the xy Plane 601

xiv
 Contents

Three-Dimensional Cartesian Matrix Transpose

Reference Frames Determinant of a Matrix
Three-Dimensional Curvilinear Matrix Inverse
Coordinate Systems Complex Numbers
Solid Angle
Quaternions
A-2 Points and Vectors
Nonparametric Representations
Vector Addition and Scalar
Multiplication Parametric Representations
Scalar Product of Two Vectors Numerical Methods
Vector Product of Two Vectors Solving Sets of Linear Equations
Finding Roots of Nonlinear
A-3 Basis Vectors and the Metric Tensor
Equations
Orthonormal Basis
Evaluating Integrals
Metric Tensor
Fitting C U N ~ S
to Data Sets
A-4 Matrices
Scalar Multiplication and Matrix BIBLIOGRAPHY
Addition 612
Matrix Multiplication 612 INDEX