Computer Graphics with OpenGL International Edition 4th Edition

Description

Computer Graphics with OpenGL, 4/e is appropriate for junior-to graduate-level courses in computer graphics.

Assuming no background in computer graphics, this junior-to graduate-level course presents basic principles for the design, use, and understanding of computer graphics systems and applications. The authors, authorities in their field, offer an integrated approach to two-dimensional and three-dimensional graphics topics. A comprehensive explanation of the popular OpenGL programming package, along with C++ programming examples illustrates applications of the various functions in the OpenGL basic library and the related GLU and GLUT packages.

CONTENTS:

Preface xxi

About the Authors xxvi

1 A Survey of Computer Graphics 1

1-1 Graphs and Charts 2

1-2 Computer-Aided Design 2

1-3 Virtual-Reality Environments 4

1-4 Data Visualizations 4

1-5 Education and Training 5

1-6 Computer Art 5

1-7 Entertainment 6

1-8 Image Processing 7

1-9 Graphical User Interfaces 7

1-10 Summary 8

2 Computer Graphics Hardware 9

2-1 Video Display Devices 10

Refresh Cathode-Ray Tubes 10

Raster-Scan Displays 13

Random-Scan Displays 15

Color CRT Monitors 16

Flat-Panel Displays 18

Three-Dimensional Viewing Devices 20

Stereoscopic and Virtual-Reality Systems 21

2-2 Raster-Scan Systems 22

Video Controller 22

Raster-Scan Display Processor 24

2-3 GraphicsWorkstations and Viewing Systems 25

2-4 Input Devices 26

Keyboards, Button Boxes, and Dials 26

Mouse Devices 26

Trackballs and Spaceballs 27

Joysticks 27

Data Gloves 28

Digitizers 28

Image Scanners 29

Touch Panels 29

Light Pens 30

Voice Systems 30

2-5 Hard-Copy Devices 30

2-6 Graphics Networks 32

2-7 Graphics on the Internet 32

2-8 Summary 33

3 Computer Graphics

Software 35

3-1 Coordinate Representations 36

3-2 Graphics Functions 37

3-3 Software Standards 38

3-4 Other Graphics Packages 39

3-5 Introduction to OpenGL 40

Basic OpenGL Syntax 40

Related Libraries 40

Header Files 41

Display-Window Management Using GLUT 42

A Complete OpenGL Program 43

Error Handling in OpenGL 47

3-6 Summary 48

4 Graphics Output Primitives 51

4-1 Coordinate Reference Frames 52

Screen Coordinates 52

Absolute and Relative Coordinate Specifications 53

4-2 Specifying A Two-Dimensional World-Coordinate Reference Frame in OpenGL 54

4-3 OpenGL Point Functions 55

4-4 OpenGL Line Functions 57

4-5 OpenGL Curve Functions 58

4-6 Fill-Area Primitives 59

4-7 Polygon Fill Areas 60

Polygon Classifications 61

Identifying Concave Polygons 61

Splitting Concave Polygons 62

Splitting a Convex Polygon into a Setof Triangles 63

Inside-Outside Tests 63

Polygon Tables 66

Plane Equations 67

Front and Back Polygon Faces 68

4-8 OpenGL Polygon Fill-Area Functions 70

4-9 OpenGL Vertex Arrays 76

4-10 Pixel-Array Primitives 78

4-11 OpenGL Pixel-Array Functions 79

OpenGL Bitmap Function 79

OpenGL Pixmap Function 81

OpenGL Raster Operations 82

4-12 Character Primitives 83

4-13 OpenGL Character Functions 85

4-14 Picture Partitioning 86

4-15 OpenGL Display Lists 87

Creating and Naming an OpenGL Display List 87

Executing OpenGL Display Lists 88

Deleting OpenGL Display Lists 89

4-16 OpenGL Display-Window Reshape Function 89

4-17 Summary 92

5 Attributes of Graphics Primitives 105

5-1 OpenGL State Variables 106

5-2 Color and Grayscale 106

RGB Color Components 106

Color Tables 107

Grayscale 108

Other Color Parameters 109

5-3 OpenGL Color Functions 109

The OpenGL RGB and RGBA Color Modes 109

OpenGL Color-Index Mode 110

OpenGL Color Blending 111

OpenGL Color Arrays 112

Other OpenGL Color Functions 114

5-4 Point Attributes 115

5-5 OpenGL Point-Attribute Functions 115

5-6 Line Attributes 115

Line Width 115

Line Style 116

Pen and Brush Options 116

5-7 OpenGL Line-Attribute Functions 117

OpenGL Line-Width Function 117

OpenGL Line-Style Function 117

Other OpenGL Line Effects 119

5-8 Curve Attributes 119

5-9 Fill-Area Attributes 120

Fill Styles 120

Color-Blended Fill Regions 121

5-10 OpenGL Fill-Area Attribute Functions 121

OpenGL Fill-Pattern Function 121

OpenGL Texture and Interpolation Patterns 122

OpenGL Wire-Frame Methods 123

OpenGL Front-Face Function 126

5-11 Character Attributes 126

5-12 OpenGL Character-Attribute Functions 129

5-13 OpenGL Antialiasing Functions 129

5-14 OpenGL Query Functions 130

5-15 OpenGL Attribute Groups 131

5-16 Summary 131

6 Implementation Algorithms for Graphics Primitives and Attributes 137

6-1 Line-Drawing Algorithms 138

Line Equations 138

DDA Algorithm 139

Bresenham's Line Algorithm 140

Displaying Polylines 144

6-2 Parallel Line Algorithms 144

6-3 Setting Frame-Buffer Values 146

6-4 Circle-Generating Algorithms 147

Properties of Circles 147

Midpoint Circle Algorithm 149

6-5 Ellipse-Generating Algorithms 153

Properties of Ellipses 153

Midpoint Ellipse Algorithm 154

6-6 Other Curves 160

Conic Sections 161

Polynomials and Spline Curves 162

6-7 Parallel Curve Algorithms 163

6-8 Pixel Addressing and Object Geometry 163

Screen Grid Coordinates 164

Maintaining Geometric Properties of Displayed Objects 164

6-9 Attribute Implementations for Straight-Line Segments and Curves 166

Line Width 166

Line Style 168

Pen and Brush Options 169

Curve Attributes 170

6-10 General Scan-Line Polygon-Fill Algorithm 171

6-11 Scan-Line Fill of Convex Polygons 175

6-12 Scan-Line Fill for Regions with Curved Boundaries 176

6-13 Fill Methods for Areas with Irregular Boundaries 176

Boundary-Fill Algorithm 176

Flood-Fill Algorithm 180

6-14 Implementation Methods for Fill Styles 180

Fill Styles 181

Color-Blended Fill Regions 181

6-15 Implementation Methods for Antialiasing 183

Supersampling Straight-Line Segments 184

Subpixel Weighting Masks 186

Area Sampling Straight-Line Segments 186

Filtering Techniques 186

Pixel Phasing 186

Compensating for Line-Intensity Differences 187

Antialiasing Area Boundaries 188

6-16 Summary 190

7 Two-Dimensional Geometric Transformations 195

7-1 Basic Two-Dimensional Geometric Transformations 196

Two-Dimensional Translation 196

Two-Dimensional Rotation 198

Two-Dimensional Scaling 200

7-2 Matrix Representations and

Homogeneous Coordinates 201

Homogeneous Coordinates 202

Two-Dimensional Translation Matrix 203

Two-Dimensional Rotation Matrix 203

Two-Dimensional Scaling Matrix 203

7-3 Inverse Transformations 204

7-4 Two-Dimensional Composite Transformations 204

Composite Two-Dimensional

Translations 205

Composite Two-Dimensional Rotations 205

Composite Two-Dimensional Scalings 205

General Two-Dimensional Pivot-Point Rotation 206

General Two-Dimensional Fixed-Point Scaling 206

General Two-Dimensional Scaling Directions 207

Matrix Concatenation Properties 208

General Two-Dimensional Composite Transformations and Computational Efficiency 209

Two-Dimensional Rigid-Body Transformation 210

Constructing Two-Dimensional Rotation Matrices 211

Two-Dimensional Composite-Matrix Programming Example 211

7-5 Other Two-Dimensional Transformations 216

Reflection 216

Shear 218

7-6 Raster Methods for Geometric Transformations 220

7-7 OpenGL Raster Transformations 221

7-8 Transformations between Two-Dimensional Coordinate Systems 222

7-9 OpenGL Functions for Two-Dimensional

Geometric Transformations 224

Basic OpenGL Geometric Transformations 224

OpenGL Matrix Operations 226

7-10 OpenGL Geometric-Transformation Programming Examples 228

7-11 Summary 229

8 Two-Dimensional Viewing 233

8-1 The Two-Dimensional Viewing Pipeline 234

8-2 The ClippingWindow 235

Viewing-Coordinate Clipping Window 236

World-Coordinate Clipping Window 236

8-3 Normalization and Viewport Transformations 237

Mapping the Clipping Window into a Normalized Viewport 237

Mapping the Clipping Window into a Normalized Square 239

Display of Character Strings 241

Split-Screen Effects and Multiple Output Devices 241

8-4 OpenGL Two-Dimensional Viewing Functions 241

OpenGL Projection Mode 241

GLU Clipping-Window Function 242

OpenGL Viewport Function 242

Creating a GLUT Display Window 243

Setting the GLUT Display-Window Mode and Color 244

GLUT Display-Window Identifier 244

Deleting a GLUT Display Window 244

Current GLUT Display Window 244

Relocating and Resizing a GLUT Display Window 245

Managing Multiple GLUT Display Windows 245

GLUT Subwindows 246

Selecting a Display-Window Screen-Cursor Shape 246

Viewing Graphics Objects in a GLUT Display Window 247

Executing the Application Program 247

Other GLUT Functions 248

OpenGL Two-Dimensional Viewing Program Example 248

8-5 Clipping Algorithms 250

8-6 Two-Dimensional Point Clipping 250

8-7 Two-Dimensional Line Clipping 251

Cohen-Sutherland Line Clipping 252

Liang-Barsky Line Clipping 257

Nicholl-Lee-Nicholl Line Clipping 260

Line Clipping Using Nonrectangular Polygon Clip Windows 262

Line Clipping Using Nonlinear Clipping-Window Boundaries 262

8-8 Polygon Fill-Area Clipping 263

Sutherland--Hodgman Polygon Clipping 265

Weiler-Atherton Polygon Clipping 269

Polygon Clipping Using Nonrectangular Polygon Clip Windows 271

Polygon Clipping Using Nonlinear Clipping-Window Boundaries 272

8-9 Curve Clipping 272

8-10 Text Clipping 273

8-11 Summary 274

9 Three-Dimensional Geometric Transformations 279

9-1 Three-Dimensional Translation 280

9-2 Three-Dimensional Rotation 281

Three-Dimensional Coordinate-Axis Rotations 282

General Three-Dimensional Rotations 284

Quaternion Methods for Three-Dimensional Rotations 289

9-3 Three-Dimensional Scaling 293

9-4 Composite Three-Dimensional Transformations 295

9-5 Other Three-Dimensional Transformations 298

Three-Dimensional Reflections 298

Three-Dimensional Shears 299

9-6 Transformations between Three-Dimensional Coordinate Systems 299

9-7 Affine Transformations 300

9-8 OpenGL Geometric-Transformation Functions 300

OpenGL Matrix Stacks 300

9-9 OpenGL Three-Dimensional Geometric-Transformation Programming Examples 302

9-10 Summary 303

10 Three-Dimensional Viewing 307

10-1 Overview of Three-Dimensional Viewing Concepts 308

Viewing a Three-Dimensional Scene 308

Projections 308

Depth Cueing 309

Identifying Visible Lines and Surfaces 309

Surface Rendering 309

Exploded and Cutaway Views 309

Three-Dimensional and Stereoscopic Viewing 310

10-2 The Three-Dimensional Viewing Pipeline 310

10-3 Three-Dimensional Viewing-Coordinate Parameters 312

The View-Plane Normal Vector 312

The View-Up Vector 313

The uvn Viewing-Coordinate Reference Frame 313

Generating Three-Dimensional Viewing Effects 314

10-4 Transformation fromWorld to Viewing Coordinates 314

10-5 Projection Transformations 316

10-6 Orthogonal Projections 316

Axonometric and Isometric Orthogonal Projections 317

Orthogonal Projection Coordinates 317

Clipping Window and Orthogonal-Projection View Volume 318

Normalization Transformation for an Orthogonal Projection 320

10-7 Oblique Parallel Projections 321

Oblique Parallel Projections in Drafting and Design 322

Cavalier and Cabinet Oblique Parallel Projections 323

Oblique Parallel-Projection Vector 324

Clipping Window and Oblique

Parallel-Projection View Volume 325

Oblique Parallel-Projection Transformation Matrix 325

Normalization Transformation for an Oblique Parallel Projection 326

10-8 Perspective Projections 327

Perspective-Projection Transformation Coordinates 327

Perspective-Projection Equations: Special Cases 328

Vanishing Points for Perspective Projections 330

Perspective-Projection View Volume 331

Perspective-Projection Transformation Matrix 332

Symmetric Perspective-Projection Frustum 333

Oblique Perspective-Projection Frustum 335

Normalized Perspective-Projection Transformation Coordinates 338

10-9 The Viewport Transformation and Three- Dimensional Screen Coordinates 341

10-10 OpenGL Three-Dimensional Viewing Functions 341

OpenGL Viewing-Transformation Function 342

OpenGL Orthogonal-Projection Function 342

OpenGL Symmetric Perspective-Projection Function 344

OpenGL General Perspective-Projection Function 344

OpenGL Viewports and Display Windows 345

OpenGL Three-Dimensional Viewing Program Example 345

10-11 Three-Dimensional Clipping Algorithms 347

Clipping in Three-Dimensional Homogeneous Coordinates 348

Three-Dimensional Region Codes 349

Three-Dimensional Point and Line Clipping 350

Three-Dimensional Polygon Clipping 352

Three-Dimensional Curve Clipping 353

Arbitrary Clipping Planes 353

10-12 OpenGL Optional Clipping Planes 355

10-13 Summary 356

11 Hierarchical Modeling 359

11-1 Basic Modeling Concepts 360

System Representations 360

Symbol Hierarchies 361

11-2 Modeling Packages 363

11-3 General Hierarchical Modeling Methods 363

Local Coordinates 364

Modeling Transformations 364

Creating Hierarchical Structures 364

11-4 Hierarchical Modeling Using OpenGL Display Lists 366

11-5 Summary 367

12 Computer Animation 369

12-1 Raster Methods for Computer Animation 370

Double Buffering 370

Generating Animations Using Raster Operations 371

12-2 Design of Animation Sequences 372

12-3 Traditional Animation Techniques 373

12-4 General Computer-Animation Functions 374

12-5 Computer-Animation Languages 374

12-6 Key-Frame Systems 375

Morphing 375

Simulating Accelerations 377

12-7 Motion Specifications 380

Direct Motion Specification 380

Goal-Directed Systems 380

Kinematics and Dynamics 381

12-8 Character Animation 382

Articulated Figure Animation 382

Motion Capture 383

12-9 Periodic Motions 384

12-10 OpenGL Animation Procedures 385

12-11 Summary 388

13 Three-Dimensional Object Representations 393

13-1 Polyhedra 394

13-2 OpenGL Polyhedron Functions 394

OpenGL Polygon Fill-Area Functions 394

GLUT Regular Polyhedron Functions 394

Example GLUT Polyhedron Program 396

13-3 Curved Surfaces 397

13-4 Quadric Surfaces 398

Sphere 398

Ellipsoid 398

Torus 399

13-5 Superquadrics 400

Superellipse 400

Superellipsoid 401

13-6 OpenGL Quadric-Surface and Cubic-Surface Functions 401

GLUT Quadric-Surface Functions 401

GLUT Cubic-Surface Teapot Function 402

GLU Quadric-Surface Functions 403

Example Program Using GLUT and GLU Quadric-Surface Functions 405

13-7 Summary 407

14 Spline Representations 411

14-1 Interpolation and Approximation Splines 412

14-2 Parametric Continuity Conditions 413

14-3 Geometric Continuity Conditions 414

14-4 Spline Specifications 415

14-5 Spline Surfaces 416

14-6 Trimming Spline Surfaces 416

14-7 Cubic-Spline Interpolation Methods 417

Natural Cubic Splines 417

Hermite Interpolation 418

Cardinal Splines 419

Kochanek-Bartels Splines 423

14-8 Bezier Spline Curves 423

Bezier Curve Equations 424

Example Bezier Curve-Generating Program 425

Properties of Bezier Curves 428

Design Techniques Using Bezier Curves 429

Cubic Bezier Curves 430

14-9 Bezier Surfaces 431

14-10 B-Spline Curves 433

B-Spline Curve Equations 433

Uniform Periodic B-Spline Curves 434

Cubic Periodic B-Spline Curves 437

Open Uniform B-Spline Curves 439

Nonuniform B-Spline Curves 440

14-11 B-Spline Surfaces 442

14-12 Beta-Splines 442

Beta-Spline Continuity Conditions 442

Cubic Periodic Beta-Spline Matrix Representation 443

14-13 Rational Splines 443

14-14 Conversion Between Spline Representations 445

14-15 Displaying Spline Curves and Surfaces 446

Horner's Rule 447

Forward-Difference Calculations 447

Subdivision Methods 448

14-16 OpenGL Approximation-Spline Functions 450

OpenGL Bezier-Spline Curve Functions 450

OpenGL Bezier-Spline Surface

Functions 453

GLU B-Spline Curve Functions 455

GLU B-Spline Surface Functions 457

GLU Surface-Trimming Functions 459

14-17 Summary 461

15 Other Three-Dimensional Object Representations 467

15-1 Blobby Objects 468

15-2 Sweep Representations 469

15-3 Constructive Solid-Geometry Methods 470

15-4 Octrees 472

15-5 BSP Trees 474

15-6 Physically Based Modeling 475

15-7 Summary 476

16 Visible-Surface Detection Methods 479

16-1 Classification of Visible-Surface Detection Algorithms 480

16-2 Back-Face Detection 480

16-3 Depth-Buffer Method 481

16-4 A-Buffer Method 484

16-5 Scan-Line Method 486

16-6 Depth-Sorting Method 487

16-7 BSP-Tree Method 490

16-8 Area-Subdivision Method 491

16-9 Octree Methods 493

16-10 Ray-Casting Method 494

16-11 Comparison of Visibility-Detection Methods 495

16-12 Curved Surfaces 496

Curved-Surface Representations 496

Surface Contour Plots 496

16-13 Wire-Frame Visibility Methods 497

Wire-Frame Surface-Visibility Algorithms 497

Wire-Frame Depth-Cueing Algorithm 498

16-14 OpenGL Visibility-Detection Functions 499

OpenGL Polygon-Culling Functions 499

OpenGL Depth-Buffer Functions 499

OpenGL Wire-Frame Surface-Visibility Methods 501

OpenGL Depth-Cueing Function 501

16-15 Summary 502

17 Illumination Models and Surface-Rendering Methods 507

17-1 Light Sources 508

Point Light Sources 509

Infinitely Distant Light Sources 509

Radial Intensity Attenuation 509

Directional Light Sources and Spotlight Effects 510

Angular Intensity Attenuation 511

Extended Light Sources and the Warn Model 512

17-2 Surface Lighting Effects 512

17-3 Basic Illumination Models 513

Ambient Light 513

Diffuse Reflection 514

Specular Reflection and the Phong Model 516

Combined Diffuse and Specular

Reflections 519

Diffuse and Specular Reflections from Multiple Light Sources 519

Surface Light Emissions 519

Basic Illumination Model with Intensity Attenuation and Spotlights 520

RGB Color Considerations 521

Other Color Representations 522

Luminance 522

17-4 Transparent Surfaces 522

Translucent Materials 523

Light Refraction 523

Basic Transparency Model 524

17-5 Atmospheric Effects 525

17-6 Shadows 526

17-7 Camera Parameters 526

17-8 Displaying Light Intensities 526

Distributing System Intensity Levels 527

Gamma Correction and Video Lookup Tables 528

Displaying Continuous-Tone Images 529

17-9 Halftone Patterns and Dithering Techniques 529

Halftone Approximations 531

Dithering Techniques 533

17-10 Polygon Rendering Methods 535

Constant-Intensity Surface Rendering 536

Gouraud Surface Rendering 536

Phong Surface Rendering 538

Fast Phong Surface Rendering 539

17-11 OpenGL Illumination and Surface-Rendering Functions 540

OpenGL Point Light-Source Function 540

Specifying an OpenGL Light-Source Position and Type 541

Specifying OpenGL Light-Source Colors 542

Specifying Radial-Intensity Attenuation Coefficients for an OpenGL Light Source 543

OpenGL Directional Light Sources (Spotlights) 543

OpenGL Global Lighting Parameters 544

OpenGL Surface-Property Function 545

OpenGL Illumination Model 546

OpenGL Atmospheric Effects 547

OpenGL Transparency Functions 548

OpenGL Surface-Rendering Functions 549

OpenGL Halftoning Operations 550

17-12 Summary 551

18 Texturing and Surface-Detail Methods 555

18-1 Modeling Surface Detail with Polygons 556

18-2 Texture Mapping 556

Linear Texture Patterns 557

Surface Texture Patterns 557

Volume Texture Patterns 560

Texture Reduction Patterns 561

Procedural Texturing Methods 561

18-3 Bump Mapping 561

18-4 Frame Mapping 562

18-5 OpenGL Texture Functions 563

OpenGL Line-Texture Functions 563

OpenGL Surface-Texture Functions 566

OpenGL Volume-Texture Functions 568

OpenGL Color Options for Texture Patterns 568

OpenGL Texture-Mapping Options 569

OpenGL Texture Wrapping 569

Copying OpenGL Texture Patterns from the Frame Buffer 570

OpenGL Texture-Coordinate Arrays 570

Naming OpenGL Texture Patterns 570

OpenGL Texture Subpatterns 572

OpenGL Texture Reduction Patterns 572

OpenGL Texture Borders 573

OpenGL Proxy Textures 573

Automatic Texturing of Quadric Surfaces 574

Homogeneous Texture Coordinates 574

Additional OpenGL Texture Options 575

18-6 Summary 575

19 Color Models and Color Applications 579

19-1 Properties of Light 580

The Electromagnetic Spectrum 580

Psychological Characteristics of Color 581

19-2 Color Models 582

Primary Colors 582

Intuitive Color Concepts 583

19-3 Standard Primaries and the Chromaticity Diagram 583

The XYZ Color Model 584

Normalized XYZ Values 584

The CIE Chromaticity Diagram 585

Color Gamuts 585

Complementary Colors 585

Dominant Wavelength 586

Purity 586

19-4 The RGB Color Model 586

19-5 The YIQ and Related Color Models 588

The YIQ Parameters 588

Transformations Between RGB and YIQ Color Spaces 588

The YUV and YCrCb Systems 589

19-6 The CMY and CMYK Color Models 589

The CMY Parameters 589

Transformations Between CMY and RGB Color Spaces 590

19-7 The HSV Color Model 590

The HSV Parameters 590

Selecting Shades, Tints, and Tones 591

Transformations Between HSV and RGB Color Spaces 592

19-8 The HLS Color Model 594

19-9 Color Selection and Applications 595

19-10 Summary 595

20 Interactive Input Methods and Graphical User Interfaces 599

20-1 Graphical Input Data 600

20-2 Logical Classification of Input Devices 600

Locator Devices 600

Stroke Devices 601

String Devices 601

Valuator Devices 601

Choice Devices 601

Pick Devices 602

20-3 Input Functions for Graphical Data 603

Input Modes 604

Echo Feedback 604

Callback Functions 604

20-4 Interactive Picture-Construction Techniques 605

Basic Positioning Methods 605

Dragging 605

Constraints 605

Grids 606

Rubber-Band Methods 606

Gravity Field 607

Interactive Painting and Drawing Methods 607

20-5 Virtual-Reality Environments 608

20-6 OpenGL Interactive Input-Device Functions 608

GLUT Mouse Functions 609

GLUT Keyboard Functions 613

GLUT Tablet Functions 617

GLUT Spaceball Functions 618

GLUT Button-Box Function 618

GLUT Dials Function 618

OpenGL Picking Operations 619

20-7 OpenGL Menu Functions 624

Creating a GLUT Menu 624

Creating and Managing Multiple GLUT Menus 626

Creating GLUT Submenus 627

Modifying GLUT Menus 629

20-8 Designing a Graphical User Interface 630

The User Dialogue 630

Windows and Icons 630

Accommodating Multiple Skill Levels 631

Consistency 631

Minimizing Memorization 631

Backup and Error Handling 632

Feedback 632

20-9 Summary 633

21 Global Illumination 639

21-1 Ray-Tracing Methods 640

Basic Ray-Tracing Algorithm 640

Ray - Surface Intersection Calculations 643

Ray - Sphere Intersections 644

Ray - Polyhedron Intersections 645

Reducing Object-Intersection Calculations 646

Space-Subdivision Methods 646

Simulating Camera Focusing Effects 648

Antialiased Ray Tracing 650

Distributed Ray Tracing 651

21-2 Radiosity Lighting Model 654

Radiant-Energy Terms 654

The Basic Radiosity Model 655

Progressive Refinement Radiosity Method 658

21-3 Environment Mapping 660

21-4 Photon Mapping 661

21-5 Summary 662

22 Programmable Shaders 665

22-1 A History of Shading Languages 666

Cook's Shade Trees 666

Perlin's Pixel Stream Editor 668

RenderMan 668

22-2 The OpenGL Pipeline 670

The Fixed-Function Pipeline 670

Changing the Pipeline Structure 671

Vertex Shaders 672

Fragment Shaders 672

Geometry Shaders 672

Tessellation Shaders 672

22-3 The OpenGL Shading Language 673

Shader Structure 673

Using Shaders in OpenGL 675

Basic Data Types 679

Vectors 679

Matrices 680

Structures and Arrays 680

Control Structures 681

GLSL Functions 681

Communicating with OpenGL 682

22-4 Shader Effects 683

A Phong Shader 684

Texture Mapping 687

Bump Mapping 689

22-5 Summary 693

23 Algorithmic Modeling 695

23-1 Fractal-Geometry Methods 696

Fractal Generation Procedures 697

Classification of Fractals 697

Fractal Dimension 698

Geometric Construction of Deterministic

Self-Similar Fractals 700

Geometric Construction of Statistically Self-Similar Fractals 703

Affine Fractal-Construction Methods 704

Random Midpoint-Displacement Methods 704

Controlling Terrain Topography 706

Self-Squaring Fractals 708

Self-Inverse Fractals 717

23-2 Particle Systems 719

23-3 Grammar-Based Modeling Methods 720

23-4 Summary 722

24 Visualization of Data Sets 725

24-1 Visual Representations for Scalar Fields 726

24-2 Visual Representations for Vector Fields 728

24-3 Visual Representations for Tensor Fields 728

24-4 Visual Representations for Multivariate Data Fields 729

24-5 Summary 729

A Mathematics for ComputerGraphics 731

A-1 Coordinate Reference Frames 731

Two-Dimensional Cartesian Screen Coordinates 731

Standard Two-Dimensional Cartesian Reference Frames 732

Polar Coordinates in the xy Plane 732

Standard Three-Dimensional Cartesian Reference Frames 733

Three-Dimensional Cartesian Screen Coordinates 733

Three-Dimensional Curvilinear-Coordinate Systems 734

Solid Angle 735

A-2 Points and Vectors 735

Point Properties 735

Vector Properties 736

Vector Addition and Scalar Multiplication 737

Scalar Product of Two Vectors 738

Vector Product of Two Vectors 738

A-3 Tensors 739

A-4 Basis Vectors and the Metric Tensor 739

Determining Basis Vectors for a Coordinate Space 740

Orthonormal Basis 740

Metric Tensor 741

A-5 Matrices 742

Scalar Multiplication and Matrix Addition 742

Matrix Multiplication 743

Matrix Transpose 744

Determinant of a Matrix 744

Matrix Inverse 744

A-6 Complex Numbers 745

Basic Complex Arithmetic 745

Imaginary Unit 746

Complex Conjugate and Modulus of a Complex Number 746

Complex Division 746

Polar-Coordinate Representation for a Complex Number 747

A-7 Quaternions 747

A-8 Nonparametric Representations 748

A-9 Parametric Representations 749

A-10 Rate-of-Change Operators 750

Gradient Operator 750

Directional Derivative 751

General Form of the Gradient Operator 751

Laplace Operator 751

Divergence Operator 752

Curl Operator 752

A-11 Rate-of-Change Integral Transformation Theorems 752

Stokes's Theorem 753

Green's Theorem for a Plane Surface 753

Divergence Theorem 754

Green's Transformation Equations 755

A-12 Area and Centroid of a Polygon 755

Area of a Polygon 755

Centroid of a Polygon 756

A-13 Calculating Properties of Polyhedra 757

A-14 Numerical Methods 758

Solving Sets of Linear Equations 758

Finding Roots of Nonlinear Equations 760

Evaluating Integrals 761

Solving Ordinary Differential Equations 763

Solving Partial Differential Equations 764

Least-Squares Curve-Fitting Methods for Data Sets 765

B Graphics File Formats 767

B-1 Image-File Configurations 767

B-2 Color-Reduction Methods 768

Uniform Color Reduction 768

Popularity Color Reduction 768

Median-Cut Color Reduction 769

B-3 File-Compression Techniques 769

Run-Length Encoding 770

LZW Encoding 770

Other Pattern-Recognition Compression Methods 771

Huffman Encoding 771

Arithmetic Encoding 773

Discrete Cosine Transform 774

B-4 Composition of the Major File Formats 776

JPEG: Joint Photographic Experts Group 776

CGM: Computer-Graphics Metafile Format 778

TIFF: Tag Image-File Format 778

PNG: Portable Network-Graphics Format 779

XBM: X Window System Bitmap Format and XPM: X Window System Pixmap Format 779

Adobe Photoshop Format 779

MacPaint: Macintosh Paint Format 780

PICT: Picture Data Format 780

BMP: Bitmap Format 780

PCX: PC Paintbrush File Format 780

TGA: Truevision Graphics-Adapter Format 780

GIF: Graphics Interchange Format 781

B-5 Summary 781

C The World of OpenGL 783

C-1 The Evolution of OpenGL 783

The Early Years: OpenGL 1.x 784

OpenGL Goes Tiny: OpenGL ES 1.x 785

Under New Management: OpenGL and Khronos Group 786

Programmable Everything: OpenGL 2.x 786 Tiny Programs: OpenGL ES 2.x 787

Geometry and Vertex Processing Evolution: OpenGL 3.x 787

This Generation: OpenGL 4.x 789

The OpenGL Extension Mechanism 790

Where Next? 791

C-2 OpenGL beyond C and C++ 792

OpenGL for Java 792

Multithreading 795

Python and OpenGL 798

Conclusions and Directions 803

C-3 GPU Architecture, Past, Present, and Future 803

The Early Days 804

The Middle Ages 805

Modern GPUs 806

Parallelism 806

Getting the Most out of a Modern GPU 810

Balance the Workload 810

Always Move Forwards 811

Feed the Pipeline 811

Make Best Use of Your Resources 811

Bibliography 813

Index 825

OpenGL Function Index 859

Core Library Functions 859

GLSL Library Functions 860

GLU Library Functions 861

GLUT Library Functions 861