The best one-volume introduction to point-based graphics ever, it addresses virtually every aspect of computer graphics from a point-based perspective: acquisition, repre- sentation,modeling,animation,rendering–everythingfromthehistoryofpoint-based graphicstothelatestresearchresults.Abroadanddeepbookdestinedtobethestandard referenceforyearstocome,editedandwrittenbyleadersinthefield. Dr.HenryFuchs FedericoGilProfessor,DepartmentofComputerScience,UniversityNorthCarolina, ChapelHill Point-basedrepresentationshaverecentlycomeintoprominenceincomputergraphics acrossarangeoftasks,fromrenderingtogeometricmodelingandphysicalsimulation. Point-basedmodelsareunburdenedbyconnectivityinformationandallowdynamically adaptivesampling,accordingtotheapplicationneeds.Theyarewell-suitedformodeling challengingeffectssuchaswide-areacontacts,largedeformations,orfractures.Thelack of manifold connectivity and regularity among the samples, however, presents many newchallengesinpoint-basedapproachesandrequiresthedevelopmentofnewtoolkits to address them. This book, in a series of well-written chapters, covers all essential aspectsofusingpoint-basedrepresentationsincomputergraphics,fromtheunderlying mathematicstodatastructurestoGPUimplementations—providingastate-of-the-art reviewofthefield. Prof.LeonidasJ.Guibas ComputerScienceDepartment,StanfordUniversity Thereisnosimplerobjectthanazerodimensionalpoint.Yetsomehow,armedwithmil- lions of such simple primitives, researchers have constructed complex 3D models that wecanseeandmanipulateonthescreen.Point-BasedGraphicsbringsustherichhis- toryofworkthathasbeendoneinthisareaofcomputergraphics.EditorsMarkusGross and Hanspeter Pfister and their contributing authors present a complete set of all the detailed work that has exploded over the past decade resulting in many of the images weseetoday.Thisbookprovidesboththetheoreticalfoundationsaswellasthepractical elementsneededtobuildnewapplicationswithpoint-basedgraphics. MichaelF.Cohen PrincipalResearcher,MicrosoftResearch This book offers much more than what its title advertises. It provides not only an in-depthcoverageofthenewfieldofpoint-basedgraphics,butalsoasolidintroduction to most modern techniques in computer graphics, from acquisition to rendering and animation. Written by leading experts on the topic, chapters include the introduction of fundamental tools as well as in-depth case studies of state-of-the-art algorithms. I learned a lot reading the book and I expect to use it often as a reference. Fre´doDurand Associate Professor, Computer Science and Artificial Intelligence Laboratory, Mas- sachusettsInstituteofTechnology Point-basedgraphicshasseenasignificantrebirth,whichgreatlychangesthegraphics arena.Thisbook,focusingonthemajor,recentadvancesinpoint-basedgraphics,pro- vides an excellent introduction and overview of the state of the art. It is particularly impressive for its breadth and depth, covering the foundations of the point primitive, modeling,processing,andrendering,aswellasadvancedtopics,suchasphysics-based animation.Otherdistinctivefeaturesofthebookareitsworld-renownededitors,Markus Gross and Hanspeter Pfister, and the high academic caliber of the contributors. Pro- fessionalsandstudentsalikewillfindthebookintriguingandstimulatingwithsound andpracticaladvice.Itisarequiredreadingforanyonewhowantstokeeppacewith therapidprogressinthisre-emergingandimportantareaofresearch. Dr.ArieE.Kaufman Distinguished Professor & Chair, Computer Science Department, Stony Brook University(SUNY),StonyBrook,NY Point-Based Graphics The Morgan Kaufmann Series in Computer Graphics Point-BasedGraphics GeometricToolsforComputer WarpingandMorphingof MarkusGrossandHanspeter Graphics GraphicalObjects Pfister,Editors PhilipSchneiderandDavid JonasGomes,LuciaDarsa,Bruno H.Eberly Costa,andLuizVelho GeometricAlgebraforComputer Science:AnObject-oriented UnderstandingVirtualReality: JimBlinn’sCorner:DirtyPixels ApproachtoGeometry Interface,Application,andDesign JimBlinn LeoDorst,DanielFontijne,and WilliamB.ShermanandAlan StephenMann R.Craig RenderingwithRadiance:TheArt andScienceofLighting VisualizationinMedicine JimBlinn’sCorner:Notation, Visualization BernhardPreimandDirkBartz Notation,Notation GregWardLarsonandRob JimBlinn Shakespeare HighDynamicRangeImaging: DataAcquisition,Manipulation, LevelofDetailfor3DGraphics IntroductiontoImplicitSurfaces andDisplay DavidLuebke,MartinReddy, EditedbyJulesBloomenthal ErikReinhard,GregWard, JonathanD.Cohen,Amitabh JimBlinn’sCorner:ATripDown SumantaPattanaik,andPaul Varshney,BenjaminWatson,and theGraphicsPipeline Debevec RobertHuebner JimBlinn CompleteMayaProgramming PyramidAlgorithms:ADynamic InteractiveCurvesandSurfaces: VolumeII:AnIn-depthGuideto ProgrammingApproachtoCurves AMultimediaTutorialonCAGD 3DFundamentals,Geometry,and andSurfacesforGeometric AlynRockwoodandPeter Modeling Modeling Chambers DavidA.D.Gould RonGoldman WaveletsforComputerGraphics: MELScriptingforMaya Non-PhotorealisticComputer TheoryandApplications Animators,SecondEdition Graphics:Modeling,Rendering, EricJ.Stollnitz,TonyD.DeRose, MarkR.WilkinsandChris andAnimation andDavidH.Salesin Kazmier ThomasStrothotteandStefan Schlechtweg PrinciplesofDigitalImage AdvancedGraphicsProgramming Synthesis CurvesandSurfacesforCAGD: UsingOpenGL AndrewS.Glassner APracticalGuide,FifthEdition TomMcReynoldsandDavid Blythe GeraldFarin Radiosity&GlobalIllumination FrançoisX.SillionandClaude DigitalGeometryGeometric SubdivisionMethodsforGeometric Puech Design:AConstructiveApproach MethodsforDigitalPicture JoeWarrenandHenrikWeimer Knotty:AB-SplineVisualization Analysis Program ReinhardKletteandAzriel ComputerAnimation:Algorithms JonathanYen Rosenfeld andTechniques RickParent UserInterfaceManagement DigitalVideoandHDTV Systems:ModelsandAlgorithms AlgorithmsandInterfaces TheComputerAnimator’s DanR.Olsen,Jr. CharlesPoynton TechnicalHandbook LynnPocockandJudson MakingThemMove:Mechanics, Real-TimeShaderProgramming Rosebush Control,andAnimationof RonFosner ArticulatedFigures AdvancedRenderMan:Creating EditedbyNormanI.Badler,Brian CompleteMayaProgramming:An CGIforMotionPictures A.Barsky,andDavidZeltzer ExtensiveGuidetoMELandthe AnthonyA.ApodacaandLarry C++API Gritz GeometricandSolidModeling:An DavidA.D.Gould Introduction CurvesandSurfacesinGeometric ChristophM.Hoffmann Texturing&Modeling:A Modeling:TheoryandAlgorithms ProceduralApproach,Third JeanGallier AnIntroductiontoSplinesforUse Edition inComputerGraphicsand DavidS.Ebert,F.Kenton AndrewGlassner’sNotebook: GeometricModeling Musgrave,DarwynPeachey,Ken RecreationalComputerGraphics RichardH.Bartels,John Perlin,andStevenWorley AndrewS.Glassner C.Beatty,andBrianA.Barsky Point-based Graphics Editedby MARKUSGROSSANDHANSPETERPFISTER AMSTERDAM(cid:127)BOSTON(cid:127)HEIDELBERG(cid:127)LONDON NEWYORK(cid:127)OXFORD(cid:127)PARIS(cid:127)SANDIEGO SANFRANCISCO(cid:127)SINGAPORE(cid:127)SYDNEY(cid:127)TOKYO MorganKaufmannPublishersisanimprintofElsevier Publisher DeniseE.M.Penrose AcquisitionsEditor TiffanyGasbarrini PublishingServicesManager GeorgeMorrison SeniorProductionEditor DawnmarieSimpson AssistantEditor MicheleCronin CoverDesign ChenDesign Composition diacriTech TechnicalIllustration diacriTech Copyeditor MultisciencePress Proofreader MultisciencePress Indexer MultisciencePress Interiorprinter HingYipPrintingCo. Coverprinter HingYipPrintingCo. MorganKaufmannPublishersisanimprintofElsevier. 30CorporateDrive,Suite400,Burlington,MA01803,USA Thisbookisprintedonacid-freepaper. (cid:1)c 2007byElsevierInc.Allrightsreserved. Designationsusedbycompaniestodistinguishtheirproductsareoftenclaimedastrademarksor registeredtrademarks.InallinstancesinwhichMorganKaufmannPublishersisawareofaclaim,the productnamesappearininitialcapitalorallcapitalletters.Readers,however,shouldcontactthe appropriatecompaniesformorecompleteinformationregardingtrademarksandregistration. Nopartofthispublicationmaybereproduced,storedinaretrievalsystem,ortransmittedinanyformor byanymeans—electronic,mechanical,photocopying,scanning,orotherwise—withoutpriorwritten permissionofthepublisher. PermissionsmaybesoughtdirectlyfromElsevier’sScience&TechnologyRightsDepartmentinOxford, UK:phone:(+44)1865843830,fax:(+44)1865853333,E-mail:[email protected] alsocompleteyourrequestonlineviatheElsevierhomepage(http://elsevier.com),byselecting“Support &Contact”then“CopyrightandPermission”andthen“ObtainingPermissions.” LibraryofCongressCataloging-in-PublicationData Gross,Markus,1963- Point-basedgraphics/MarkusGross,HanspeterPfister. p.cm. Includesbibliographicalreferencesandindex. ISBN978-0-12-370604-1(hardcover:alk.paper)1.Computergraphics.2.Three-dimensional displaysystems.I.Pfister,Hanspeter.II.Title. T385.G7692007 006.6–dc22 2007010612 ISBN:978-0-12-370604-1 ForinformationonallMorganKaufmannpublications, visitourWebsiteatwww.mkp.comorwww.books.elsevier.com PrintedinChina. 07 08 09 10 5 4 3 2 1 ToLisa,Jana,andAdrian. M.G. ToJennifer,Lilly,andAudrey. H.P. About the Editors DR. MARKUS GROSS Dr. Gross is a professor of computer science, chair of the institute of computational science, and director of theComputerGraphicsLaboratoryoftheSwissFederal Institute of Technology (ETH) in Zu¨rich. His research interests include point-based graphics, physically- based modeling, multiresolution analysis, and virtual reality. He has published more than 130 scientific papers on computer graphics and scientific visualiza- tion, and he authored the book “Visual Computing”, Springer,1994.Heholdsvariouspatentsoncoregraphics technologies.GrosshastaughtcoursesatmajorgraphicsconferencesincludingACM SIGGRAPH,IEEEVisualization,andEurographics.Heservesasamemberofinter- national program committees of many graphics conferences and on the editorial boardofvariousscientificjournals.Grosswasapapersco-chairoftheIEEEVisual- ization’99,theEurographics2000,andtheIEEEVisualization2002conferences.He waschairofthepaperscommitteeofACMSIGGRAPH2005.GrossreceivedaMaster ofScienceinelectricalandcomputerengineeringandaPhDincomputergraphics andimageanalysis,bothfromtheUniversityofSaarbrucken,Germany.From1990to 1994,GrossworkedfortheComputerGraphicsCenterinDarmstadt,whereheestab- lishedanddirectedtheVisualComputingGroup.HeisaseniormemberofIEEE,a memberoftheIEEEComputerSociety,amemberofACMandACMSiggraph,and amemberoftheEurographicsAssociation.From2002-2006hewasamemberofthe ETHresearchcommission.Grossservesinboardpositionsofanumberofinterna- tionalresearchinstitutes,societiesandgovernmentorganizations.Heischairofthe technical advisory committee of Ageia Corporation. Gross co-founded Cyfex AG, NovodexAG,andLiberoVisionAG. viii ABOUTTHEEDITORS/CONTRIBUTORS ix DR. HANSPETER PFISTER Hanspeter Pfister is Associate Director and Senior Research Scientist at MERL—Mitsubishi Electric Research Laboratories—in Cambridge, MA. He is the chief architect of VolumePro, Mitsubishi Electric’s real- time volume rendering hardware for PCs. His research interestsincludecomputergraphics,scientificvisualiza- tion,andgraphicsarchitectures.Hisworkspansarange of topics, including point-based graphics, appearance modeling and acquisition, computational photography, 3D television, and face modeling. Hanspeter Pfister receivedhisPh.D.inComputerSciencein1996fromthe StateUniversityofNewYorkatStonyBrook.Hereceived his M.S. in Electrical Engineering from the Swiss Federal Institute of Technology (ETH)Zurich,Switzerland,in1991.Dr.Pfisterhastaughtcoursesatmajorgraph- icsconferencesincludingSIGGRAPH,IEEEVisualization,andEurographics.Hehas beenteachingintroductoryandadvancedgraphicsoursesattheHarvardExtension Schoolsince1999.HeisAssociateEditoroftheIEEETransactionsonVisualization andComputerGraphics(TVCG),chairoftheIEEEVisualizationandGraphicsTech- nical Committee (VGTC), and has served as a member of international program committees of major graphics conferences. Dr. Pfister was the general chair of the IEEE Visualization 2002 conference. He is senior member of the IEEE, and mem- berofACM,ACMSIGGRAPH,theIEEEComputerSociety,andtheEurographics Association. ABOUT THE CONTRIBUTORS Adams, Bart Bart Adams received the M.Sc. Degree in Computer Engineering (magna cum laude) from the Katholieke Universiteit Leuven, Belgium in 2002. In October 2002 he joined the Computer Graphics Group of Prof. Philip Dutre´ and startedaPh.D.attheComputerScienceDepartmentoftheKatholiekeUniversiteit Leuven funded by the National Fund for Scientific Research, Belgium. His current researchfocusesontheuseofpoint-basedsurfacerepresentationsandtechniquesfor computergraphicsapplicationsandhasleadtotwopublicationssofarattheannual ACMSIGGRAPHconference.HehasworkedtogetherwiththeComputerGraphics LabatETHZu¨richonvariousprojectsandwasavisitingscholaratStanfordUniver- sityinthesummersof2004and2005. Adamson,Anders AndersAdamsonisaresearchassociate,teachingassistantand PhD student at the Department of Computer Science of the TU Darmstadt,