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John Vince
Calculus
for Computer
Graphics
Third Edition
Calculus for Computer Graphics
John Vince
This Springer imprint is published by the registered company Springer Nature Switzerland AG
The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
This book is dedicated to my wife Hei ∂iπ .
Preface
Calculus is one of those subjects that appears to have no boundaries, which is why
some books are so large and heavy! So when I started writing the first edition of this
book, I knew that it would not fall into this category. It would be around 200 pages
long and take the reader on a gentle journey through the subject, without placing too
many demands on their knowledge of mathematics.
The second edition reviewed the original text, corrected a few typos, and incor-
porated three extra chapters. I also extended the chapter on arc length to include the
parameterisation of curves.
In this third edition, I have reviewed the text, corrected a few typos, and
incorporated new chapters on vector differential operators and solving differential
equations.
The objective of the book remains the same: to inform the reader about functions
and their derivatives, and the inverse process: integration, which can be used for
computing area and volume. The emphasis on geometry gives the book relevance
to the computer graphics community and hopefully will provide the mathematical
background for professionals working in computer animation, games and allied disci-
plines to read and understand other books and technical papers where the differential
and integral notation is found.
The book divides into 18 chapters, with the obligatory chapters to introduce and
conclude the book. Chapter 2 reviews the ideas of functions, their notation and the
different types encountered in everyday mathematics. This can be skipped by readers
already familiar with the subject.
Chapter 3 introduces the idea of limits and derivatives, and how mathematicians
have adopted limits in preference to infinitesimals. Most authors introduce integration
as a separate subject, but I have included it in this chapter so that it is seen as an
antiderivative, rather than something independent.
Chapter 4 looks at derivatives and antiderivatives for a wide range of functions
such as polynomial, trigonometric, exponential and logarithmic. It also shows how
function sums, products, quotients and function of a function are differentiated.
Chapter 5 covers higher derivatives and how they are used to detect a local
maximum and minimum.
vii
viii Preface
Calculus by Serge Lang, Differential Equations by Allan Struthers and Merle Potter,
and my all-time favourite: Mathematics from the Birth of Numbers by Jan Gullberg.
I acknowledge and thank all these authors for the influence they have had on this
book. One other book that has helped me is Digital Typography Using LATEX by
Apostolos Syropoulos, Antonis Tsolomitis and Nick Sofroniou.
Writing any book can be a lonely activity, and finding someone willing to read an
early draft, and whose opinion one can trust, is extremely valuable. Consequently, I
thank Dr. Tony Crilly for his valuable feedback after reading the original manuscript.
Tony identified flaws in my reasoning and inconsistent notation, and I have incorpo-
rated his suggestions. However, I take full responsibility for any mistakes that may
have found their way into this publication.
Finally, I thank Helen Desmond, Editor for Computer Science, Springer UK, for
her continuing professional support.
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 What Is Calculus? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Where Is Calculus Used in Computer Graphics? . . . . . . . . . . . . . . 2
1.3 Who Else Should Read This Book? . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.4 Who Invented Calculus? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Expressions, Variables, Constants and Equations . . . . . . . . . . . . . . 5
2.3 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.3.1 Continuous and Discontinuous Functions . . . . . . . . . . . . . 7
2.3.2 Linear Graph Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3.3 Periodic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3.4 Polynomial Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3.5 Function of a Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3.6 Other Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.4 A Function’s Rate of Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.4.1 Slope of a Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.4.2 Differentiating Periodic Functions . . . . . . . . . . . . . . . . . . . 15
2.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3 Limits and Derivatives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.2 Some History of Calculus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.3 Small Numerical Quantities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.4 Equations and Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.4.1 Quadratic Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.4.2 Cubic Equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.4.3 Functions and Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.4.4 Graphical Interpretation of the Derivative . . . . . . . . . . . . 26
3.4.5 Derivatives and Differentials . . . . . . . . . . . . . . . . . . . . . . . 27
3.4.6 Integration and Antiderivatives . . . . . . . . . . . . . . . . . . . . . 29
xi
xii Contents
3.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.6 Worked Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.6.1 Limiting Value of a Quotient 1 . . . . . . . . . . . . . . . . . . . . . . 31
3.6.2 Limiting Value of a Quotient 2 . . . . . . . . . . . . . . . . . . . . . . 32
3.6.3 Derivative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.6.4 Slope of a Polynomial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.6.5 Slope of a Periodic Function . . . . . . . . . . . . . . . . . . . . . . . . 33
3.6.6 Integrate a Polynomial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4 Derivatives and Antiderivatives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.2 Differentiating Groups of Functions . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.2.1 Sums of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.2.2 Function of a Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.2.3 Function Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.2.4 Function Quotients . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.2.5 Summary: Groups of Functions . . . . . . . . . . . . . . . . . . . . . 47
4.3 Differentiating Implicit Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.4 Differentiating Exponential and Logarithmic Functions . . . . . . . . 52
4.4.1 Exponential Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
4.4.2 Logarithmic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.4.3 Summary: Exponential and Logarithmic Functions . . . . 56
4.5 Differentiating Trigonometric Functions . . . . . . . . . . . . . . . . . . . . . 57
4.5.1 Differentiating tan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.5.2 Differentiating csc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.5.3 Differentiating sec . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.5.4 Differentiating cot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.5.5 Differentiating arcsin, arccos and arctan . . . . . . . . . . . . . . 61
4.5.6 Differentiating arccsc, arcsec and arccot . . . . . . . . . . . . . . 62
4.5.7 Summary: Trigonometric Functions . . . . . . . . . . . . . . . . . 63
4.6 Differentiating Hyperbolic Functions . . . . . . . . . . . . . . . . . . . . . . . . 63
4.6.1 Differentiating sinh, cosh and tanh . . . . . . . . . . . . . . . . . . 66
4.6.2 Differentiating cosech, sech and coth . . . . . . . . . . . . . . . . 68
4.6.3 Differentiating arsinh, arcosh and artanh . . . . . . . . . . . . . 70
4.6.4 Differentiating arcsch, arsech and arcoth . . . . . . . . . . . . . 72
4.6.5 Summary: Hyperbolic Functions . . . . . . . . . . . . . . . . . . . . 73
4.7 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
5 Higher Derivatives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.2 Higher Derivatives of a Polynomial . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.3 Identifying a Local Maximum or Minimum . . . . . . . . . . . . . . . . . . 78
5.4 Derivatives and Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
5.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
5.5.1 Summary of Formulae . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
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Contents xiii
6 Partial Derivatives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
6.2 Partial Derivatives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
6.2.1 Visualising Partial Derivatives . . . . . . . . . . . . . . . . . . . . . . 88
6.2.2 Mixed Partial Derivatives . . . . . . . . . . . . . . . . . . . . . . . . . . 89
6.3 Chain Rule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
6.4 Total Derivative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
6.5 Second-Order and Higher Partial Derivatives . . . . . . . . . . . . . . . . . 95
6.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
6.6.1 Summary of Formulae . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
6.7 Worked Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
6.7.1 Partial Derivative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
6.7.2 First and Second-Order Partial Derivatives . . . . . . . . . . . 96
6.7.3 Mixed Partial Derivative . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
6.7.4 Chained Partial Derivatives . . . . . . . . . . . . . . . . . . . . . . . . . 97
6.7.5 Total Derivative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
7 Integral Calculus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
7.2 Indefinite Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
7.3 Standard Integration Formulae . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
7.4 Integrating Techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
7.4.1 Continuous Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
7.4.2 Difficult Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
7.4.3 Trigonometric Identities . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
7.4.4 Exponent Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.4.5 Completing the Square . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.4.6 The Integrand Contains a Derivative . . . . . . . . . . . . . . . . . 110
7.4.7 Converting the Integrand into a Series of Fractions . . . . 113
7.4.8 Integration by Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
7.4.9 Integrating by Substitution . . . . . . . . . . . . . . . . . . . . . . . . . 122
7.4.10 Partial Fractions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
7.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
7.6 Worked Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
7.6.1 Trigonometric Identities . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
7.6.2 Exponent Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
7.6.3 Completing the Square . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
7.6.4 The Integrand Contains a Derivative . . . . . . . . . . . . . . . . . 131
7.6.5 Converting the Integrand into a Series of Fractions . . . . 131
7.6.6 Integration by Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
7.6.7 Integrating by Substitution . . . . . . . . . . . . . . . . . . . . . . . . . 132
7.6.8 Partial Fractions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
xiv Contents
What is calculus? Well this is an easy question to answer. Basically, calculus has
two parts: differential and integral. Differential calculus is used for computing a
function’s rate of change relative to one of its arguments. Generally, one begins with
a function such as f (x), and as x changes, a corresponding change occurs in f (x).
Differentiating f (x) with respect to x, produces a second function f (x), which gives
the rate of change of f (x) for any x. For example, and without explaining why, if
f (x) = x 2 , then f (x) = 2x, and when x = 3, f (x) is changing 2 × 3 = 6 times
faster than x. Which is rather neat!
In practice, one also writes y = x 2 , or even y = f (x), which means that differ-
entiating is expressed in a variety of ways
dy d d
f (x), , f (x), y
dx dx dx
dy d d
f (x) = 2x, = 2x, f (x) = 2x, y = 2x.
dx dx dx
Integral calculus reverses the operation, where integrating f (x), produces f (x),
or something similar. But surely, calculus can’t be as easy as this, you’re asking
yourself? Well, there are some problems, which is what this book is about. To begin
with, not all functions are easily differentiated, as they may contain hidden infinities
and discontinuities. Some functions are expressed as products or quotients, and many
functions possess more than one argument. All these, and other conditions, must be
addressed. Furthermore, integrating a function produces some useful benefits, such
as calculating the area under a graph, the length of curves, and the surface area and
volume of objects. But more of this later.
But why should we be interested in rates of change? Well, say we have a function
that specifies the changing velocity of an object over time, then differentiating the
function gives the rate of change of the function over time, which is the object’s
acceleration. And knowing the object’s mass and acceleration, we can compute the
force responsible for the object’s acceleration. There are many more reasons for
having an interest in rates of change, which will emerge in the following chapters.
If you are lucky, you may work in computer graphics without having to use calculus,
but some people have no choice but to understand it, and use it in their work. For
example, we often join together curved lines and surfaces. Figure 1.1 shows two
abutting curves, where the join is clearly visible. This is because the slope information
at the end of the first curve, does not match the slope information at the start of the
second curve. By expressing the curves as functions, differentiating them gives their
slopes at any point in the form of two other functions. These slope functions can also
be differentiated, and by ensuring that the original curves possess the same derivatives
at the join, a seamless join is created. The same process is used for abutting two or
more surface patches.
Calculus finds its way into other aspects of computer graphics such as digital
differential analysers (DDAs) for drawing lines and curves, interpolation, curvature,
arc-length parametrisation, fluid animation, rendering, animation, modelling, etc. In
later chapters I will show how calculus permits us to calculate surface normals to
curves and surfaces, and the curvature of different curves.
Who else should read this book? I would say that almost anyone could read this book.
Basically, calculus is needed by mathematicians, scientists, physicists, engineers,
etc., and this book is just an introduction to the subject, with a bias towards computer
graphics.
More than three-hundred years have passed since the English astronomer, physicist
and mathematician Isaac Newton (1643–1727) and the German mathematician Got-
tfried Leibniz (1646–1716) published their treaties describing calculus. So called
‘infinitesimals’ played a pivotal role in early calculus to determine tangents, area and
volume. Incorporating incredibly small quantities (infinitesimals) into a numerical
solution, means that products involving them can be ignored, whilst quotients could
be retained. The final solution takes the form of a ratio representing the change of a
function’s value, relative to a change in its independent variable.
Although infinitesimal quantities have helped mathematicians for more than two-
thousand years solve all sorts of problems, they were not widely accepted as a rig-
orous mathematical tool. In the latter part of the 19th century, they were replaced
by incremental changes that tend towards zero to form a limit identifying some
desired result. This was mainly due to the work of the German mathematician Karl
Weierstrass (1815–1897), and the French mathematician Augustin-Louis Cauchy
(1789–1857).
In spite of the basic ideas of calculus being relatively easy to understand, it has
a reputation for being difficult and intimidating. I believe that the problem lies in
the breadth and depth of calculus, in that it can be applied across a wide range
of disciplines, from electronics to cosmology, where the notation often becomes
extremely abstract with multiple integrals, multi-dimensional vector spaces and
matrices formed from partial differential operators. In this book I introduce the reader
to those elements of calculus that are both easy to understand and relevant to solving
various mathematical problems found in computer graphics.
On the one hand, perhaps you have studied calculus at some time, and have not
had the opportunity to use it regularly and become familiar with its ways, tricks and
analytical techniques. In which case, this book could awaken some distant memory
and reveal a subject with which you were once familiar. On the other hand, this might
be your first journey into the world of functions, limits, differentials and integrals—in
which case, you should find the journey exciting!
Chapter 2
Functions
2.1 Introduction
In this chapter the notion of a function is introduced as a tool for generating one
numerical quantity from another. In particular, we look at equations, their variables
and any possible sensitive conditions. This leads toward the idea of how fast a function
changes relative to its independent variable. The second part of the chapter introduces
two major operations of calculus: differentiating, and its inverse, integrating. This is
performed without any rigorous mathematical underpinning, and permits the reader
to develop an understanding of calculus without using limits.
One of the first things we learn in mathematics is the construction of expressions, such
as 2(x + 5) − 2, using variables, constants and arithmetic operators. The next step
is to develop an equation, which is a mathematical statement, in symbols, declaring
that two things are exactly the same (or equivalent). For example, (2.1) is the equation
representing the surface area of a sphere
S = 4πr 2 (2.1)
where S and r are variables. They are variables because they take on different values,
depending on the size of the sphere. S depends upon the changing value of r , and to
distinguish between the two, S is called the dependent variable, and r the independent
variable. Similarly, (2.2) is the equation for the volume of a torus
V = 2π 2 r 2 R (2.2)
FOOTNOTES:
[8] Histoire de Madame de Maintenon, et des principaux
Evenements du Regne de Louis XIV. Par M. le Duc de Noilles,
Paris, 1848.
[9] "Madame de Maintenon," writes St. Simon, "had men, affairs,
justice, religion, all, without exception, in her hands, and the king
and the state her victims."
[10] Under these circumstances the Protestants sent the following
touching petition: "It being impossible for us to live without the
exercise of our religion, we are compelled, in spite of ourselves,
to supplicate your majesty, with the most profound humility and
respect, that you may be pleased to allow us to leave the
kingdom, with our wives, our children, and our effects, to settle in
foreign countries, where we can freely render to God the worship
which we believe indispensable, and on which depends our
happiness or our misery for eternity." This petition met only the
response of aggravated severities.—Hist. of the Protestants of
France, by G. de Félice, p. 486.
[11] History of the Protestants of France, by G. de Félice, p. 405.
[12] History of the Protestants of France, by G. de Félice, p. 408.
[13] Histoire de l'Édit de Nantes, par Elias Benoît, tome v., p. 953.
[14] Boulainvilliers.
[15] "It is painful to detect continually the hand of the clergy in
these scenes of violence, spoliation, and death. The venerable
Malesherbes, the Baron de Breteuil, Rulhières, Joly de Fleury,
Gilbert de Voisins, Rippert de Monclus, the highest statesmen, the
most eminent magistrates, who have written upon the religious
affairs of this period, utter but one voice on it. They agree in
signalizing the influence of the priests, an influence as obstinate
as incessant, sometimes haughty, sometimes supple and humble,
but always supplicating the last means of restraint and severity
for the re-establishment of religious unity."—History of the
Protestants of France, by G. de Félice, p. 487.
CHAPTER III.
THE REGENCY AND LOUIS XV.
CHAPTER IV.
DESPOTISM AND ITS FRUITS.
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