Non-uniform rational basis spline (NURBS) is a mathematical model using basis splines (B-splines) that is commonly used in computer graphics for representing curves and surfaces. It offers great flexibility and precision for handling both analytic (defined by common mathematical formulae) and modeled shapes. It is a type of curve modeling, as opposed to polygonal modeling or digital sculpting. NURBS curves are commonly used in computer-aided design (CAD), manufacturing (CAM), and engineering (CAE). They are part of numerous industry-wide standards, such as IGES, STEP, ACIS, and PHIGS. Tools for creating and editing NURBS surfaces are found in various 3D graphics, rendering, and animation software packages.

They can be efficiently handled by computer programs yet allow for easy human interaction. NURBS surfaces are functions of two parameters mapping to a surface in three-dimensional space. The shape of the surface is determined by control points. In a compact form, NURBS surfaces can represent simple geometrical shapes. For complex organic shapes, T-splines and subdivision surfaces are more suitable because they halve the number of control points in comparison with the NURBS surfaces.

In general, editing NURBS curves and surfaces is intuitive and predictable. Control points are always either connected directly to the curve or surface, or else act as if they were connected by a rubber band. Depending on the type of user interface, the editing of NURBS curves and surfaces can be via their control points (similar to Bézier curves) or via higher level tools such as spline modeling and hierarchical editing.

History

Before computers, designs were drawn by hand on paper with various drafting tools. Rulers were used for straight lines, compasses for circles, and protractors for angles. But many shapes, such as the freeform curve of a ship's bow, could not be drawn with these tools.

Although such curves could be drawn freehand at the drafting board, shipbuilders often needed a life-size version which could not be done by hand. Such large drawings were done with the help of flexible strips of wood, called splines. The splines were held in place at a number of predetermined points, by lead "ducks", named for the bill-shaped protrusion that the splines rested against. Between the ducks, the elasticity of the spline material caused the strip to take the shape that minimized the energy of bending, thus creating the smoothest possible shape that fit the constraints. The shape could be adjusted by moving the ducks.

In 1964, mathematicians started studying the spline shape, and derived the piecewise polynomial formula known as the spline curve or spline function. I. J. Schoenberg gave the spline function its name after its resemblance to the mechanical spline used by draftsmen.

As computers were introduced into the design process, the physical properties of such splines were investigated so that they could be modelled with mathematical precision and reproduced where needed. Pioneering work was done in France by Renault engineer Pierre Bézier, and Citroën's physicist and mathematician Paul de Casteljau. They worked nearly parallel to each other, but because Bézier published the results of his work, Bézier curves were named after him, while de Casteljau's name is only associated with related algorithms.

Bézier's work reached a group of faculty and graduate students at Syracuse University, including Steven Anson Coons, William Gordon, Robin Forrest, Rich Riesenfeld, and Ken Versprille. Riesenfeld's dissertation introduced B-splines; Versprille's dissertation generalized them to be non-uniform and rational. Riesenfeld moved to the University of Utah, where one of his students went on to work at Boeing, which needed a generalized way to exactly represent various other formulas in use. Boeing adopted Versprille's concept, abbreviated it to "NURBS", integrated it into their CAD program TIGER, and proposed it as an industry standard.

Real-time, interactive rendering of NURBS curves and surfaces was first made commercially available on Silicon Graphics workstations in 1989. In 1993, the first interactive NURBS modeller for PCs, called NöRBS, was developed by CAS Berlin, a small startup company cooperating with Technische Universität Berlin.

Continuity

A surface under construction, e.g. the hull of a motor yacht, is usually composed of several NURBS surfaces known as NURBS patches (or just patches). These surface patches should be fitted together in such a way that the boundaries are invisible. This is mathematically expressed by the concept of geometric continuity.

Higher-level tools exist that benefit from the ability of NURBS to create and establish geometric continuity of different levels: Positional continuity (G0) holds whenever the end positions of two curves or surfaces coincide. The curves or surfaces may still meet at an angle, giving rise to a sharp corner or edge and causing broken highlights. Tangential continuity (G¹) requires the end vectors of the curves or surfaces to be parallel and pointing the same way, ruling out sharp edges. Because highlights falling on a tangentially continuous edge are always continuous and thus look natural, this level of continuity can often be sufficient. Curvature continuity (G²) further requires the end vectors to be of the same length and rate of length change. Highlights falling on a curvature-continuous edge do not display any change, causing the two surfaces to appear as one. This can be visually recognized as "perfectly smooth". This level of continuity is very useful in the creation of models that require many bi-cubic patches composing one continuous surface.

Geometric continuity mainly refers to the shape of the resulting surface; since NURBS surfaces are functions, it is also possible to discuss the derivatives of the surface with respect to the parameters. This is known as parametric continuity. Parametric continuity of a given degree implies geometric continuity of that degree.

First- and second-level parametric continuity (C0 and C¹) are for practical purposes identical to positional and tangential (G0 and G¹) continuity. Third-level parametric continuity (C²), however, differs from curvature continuity in that its parameterization is also continuous. In practice, C² continuity is easier to achieve if uniform B-splines are used.

The definition of Cn continuity requires that the nth derivative of adjacent curves/surfaces () are equal at a joint.Foley, van Dam, Feiner & Hughes: Computer Graphics: Principles and Practice, section 11.2, Addison-Wesley 1996 (2nd ed.). Note that the (partial) derivatives of curves and surfaces are vectors that have a direction and a magnitude; both should be equal.

Highlights and reflections can reveal the perfect smoothing, which is otherwise practically impossible to achieve without NURBS surfaces that have at least G² continuity. This same principle is used as one of the surface evaluation methods whereby a ray-traced or reflection-mapped image of a surface with white stripes reflecting on it will show even the smallest deviations on a surface or set of surfaces. This method is derived from car prototyping wherein surface quality is inspected by checking the quality of reflections of a neon-light ceiling on the car surface. This method is also known as "Zebra analysis".

Technical specifications

A NURBS curve is defined by its order, a set of weighted control points, and a knot vector. NURBS curves and surfaces are generalizations of both B-splines and Bézier curves and surfaces, the primary difference being the weighting of the control points, which makes NURBS curves rational.

(Non-rational, aka simple, B-splines are a special case/subset of rational B-splines, where each control point is a regular non-homogenous coordinate [no 'w'] rather than a homogeneous coordinate. That is equivalent to having weight "1" at each control point; Rational B-splines use the 'w' of each control point as a weight.)

By using a two-dimensional grid of control points, NURBS surfaces including planar patches and sections of spheres can be created. These are parametrized with two variables (typically called s and t or u and v). This can be extended to arbitrary dimensions to create NURBS mapping .

NURBS curves and surfaces are useful for a number of reasons: The set of NURBS for a given order is invariant under affine transformations:David F. Rogers: An Introduction to NURBS with Historical Perspective, section 7.1 operations like rotations and translations can be applied to NURBS curves and surfaces by applying them to their control points. They offer one common mathematical form for both standard analytical shapes (e.g., conics) and free-form shapes. They provide the flexibility to design a large variety of shapes. They reduce the memory consumption when storing shapes (compared to simpler methods). They can be evaluated reasonably quickly by numerically stable and accurate algorithms.

Here, NURBS is mostly discussed in one dimension (curves); it can be generalized to two (surfaces) or even more dimensions.

Order The order of a NURBS curve defines the number of nearby control points that influence any given point on the curve. The curve is represented mathematically by a polynomial of degree one less than the order of the curve. Hence, second-order curves (which are represented by linear polynomials) are called linear curves, third-order curves are called quadratic curves, and fourth-order curves are called cubic curves. The number of control points must be greater than or equal to the order of the curve.

In practice, cubic curves are the ones most commonly used. Fifth- and sixth-order curves are sometimes useful, especially for obtaining continuous higher order derivatives, but curves of higher orders are practically never used because they lead to internal numerical problems and tend to require disproportionately large calculation times.

Control points

The control points determine the shape of the curve. Typically, each point of the curve is computed by taking a weighted sum of a number of control points. The weight of each point varies according to the governing parameter. For a curve of degree d, the weight of any control point is only nonzero in d+1 intervals of the parameter space. Within those intervals, the weight changes according to a polynomial function (basis functions) of degree d. At the boundaries of the intervals, the basis functions go smoothly to zero, the smoothness being determined by the degree of the polynomial.

As an example, the basis function of degree one is a triangle function. It rises from zero to one, then falls to zero again. While it rises, the basis function of the previous control point falls. In that way, the curve interpolates between the two points, and the resulting curve is a polygon, which is continuous, but not differentiable at the interval boundaries, or knots. Higher degree polynomials have correspondingly more continuous derivatives. Note that within the interval the polynomial nature of the basis functions and the linearity of the construction make the curve perfectly smooth, so it is only at the knots that discontinuity can arise.

In many applications the fact that a single control point only influences those intervals where it is active is a highly desirable property, known as local support. In modeling, it allows the changing of one part of a surface while keeping other parts unchanged.