Interactive Computer Graphics: A Top-Down Approach Using OpenGL

by Angel, Edward

• ISBN13: 9780321321374
• ISBN10: 0321321375
• Edition: 5th
• Format: Hardcover
• Copyright: 2009-01-01
• Publisher: Addison Wesley

Summary

Interactive Computer Graphics fourth edition presents introductory computer graphics concepts using a proven top-down, programming-oriented approach and careful integration of OpenGL to teach core concepts. The fourth edition has been revised to more closely follow the OpenGL pipeline architecture and includes a new chapter on programmable hardware topics (vertex shaders). As with previous editions, readers learn to program three-dimensional applications as soon as possible. The Fourth edition focuses on core theory in graphics. Topics such as light-material interactions, shading, modeling, curves and surfaces, antialiasing, texture mapping, and compositing and hardware issues are covered.

Author Biography

Edward Angel is Professor of Computer Science, Electrical and Computer Engineering, and Media Arts at the University of New Mexico.

Table of Contents

Preface	xxiii
Graphics Systems and Models	1	(38)
Applications of Computer Graphics	2	(3)
Display of Information	2	(1)
Design	3	(1)
Simulation and Animation	3	(1)
User Interfaces	4	(1)
A Graphics System	5	(5)
Pixels and the Frame Buffer	6	(1)
Output Devices	7	(3)
Input Devices	10	(1)
Images: Physical and Synthetic	10	(5)
Objects and Viewers	11	(1)
Light and Images	12	(2)
Imaging Models	14	(1)
Imaging Systems	15	(4)
The Pinhole Camera	16	(2)
The Human Visual System	18	(1)
The Synthetic-Camera Model	19	(2)
The Programmer's Interface	21	(8)
The Pen-Plotter Model	22	(2)
Three-Dimensional APIs	24	(2)
A Sequence of Images	26	(2)
The Modeling--Rendering Paradigm	28	(1)
Graphics Architectures	29	(4)
Display Processors	29	(1)
Pipeline Architectures	30	(1)
The Graphics Pipeline	31	(1)
Vertex Processing	31	(1)
Clipping and Primitive Assembly	32	(1)
Rasterization	33	(1)
Fragment Processing	33	(1)
Programmable Pipelines	33	(1)
Performance Characteristics	34	(5)
Summary and Notes	35	(1)
Suggested Readings	36	(1)
Exercises	36	(3)
Graphics Programming	39	(60)
The Sierpinski Gasket	39	(1)
Programming Two-Dimensional Applications	40	(6)
Coordinate Systems	45	(1)
The OpenGL API	46	(4)
Graphics Functions	47	(1)
The Graphics Pipeline and State Machines	48	(1)
The OpenGL Interface	49	(1)
Primitives and Attributes	50	(10)
Polygon Basics	52	(1)
Polygon Types in OpenGL	53	(2)
Approximating a Sphere	55	(1)
Text	56	(2)
Curved Objects	58	(1)
Attributes	58	(2)
Color	60	(6)
RGB Color	62	(2)
Indexed Color	64	(1)
Setting of Color Attributes	65	(1)
Viewing	66	(5)
The Orthographic View	67	(2)
Two-Dimensional Viewing	69	(1)
Matrix Modes	70	(1)
Control Functions	71	(5)
Interaction with the Window System	71	(2)
Aspect Ratio and Viewports	73	(1)
The main, display, and myinit Functions	74	(2)
Program Structure	76	(1)
The Gasket Program	76	(1)
Polygons and Recursion	77	(3)
The Three-Dimensional Gasket	80	(5)
Use of Three-Dimensional Points	80	(2)
Use of Polygons in Three Dimensions	82	(2)
Hidden-Surface Removal	84	(1)
Plotting Implicit Functions	85	(14)
Marching Squares	86	(7)
Summary and Notes	93	(1)
Suggested Readings	94	(1)
Exercises	95	(4)
Input and Interaction	99	(58)
Interaction	99	(1)
Input Devices	100	(7)
Physical Input Devices	101	(3)
Logical Devices	104	(1)
Input Modes	105	(2)
Clients and Servers	107	(1)
Display Lists	108	(7)
Definition and Execution of Display Lists	110	(2)
Text and Display Lists	112	(2)
Fonts in Glut	114	(1)
Programming Event-Driven Input	115	(7)
Using the Pointing Device	116	(3)
Window Events	119	(2)
Keyboard Events	121	(1)
The Display and Idle Callbacks	121	(1)
Window Management	122	(1)
Menus	122	(2)
Picking	124	(7)
Picking and Selection Mode	125	(6)
A Simple Paint Program	131	(6)
Building Interactive Models	137	(3)
Animating Interactive Programs	140	(5)
The Rotating Square	140	(2)
Double Buffering	142	(2)
Using a Timer	144	(1)
Design of Interactive Programs	145	(1)
Toolkits, Widgets, and the Frame Buffer	145	(1)
Logic Operations	146	(11)
Drawing Erasable Lines	147	(3)
XOR and Color	150	(1)
Cursors and Overlay Planes	151	(1)
Summary and Notes	151	(1)
Suggested Readings	152	(1)
Exercises	153	(4)
Geometric Objects and Transformations	157	(76)
Scalars, Points, and Vectors	158	(8)
Geometric Objects	158	(1)
Coordinate-Free Geometry	159	(1)
The Mathematical View: Vector and Affine Spaces	160	(1)
The Computer Science View	161	(1)
Geometric ADTs	162	(1)
Lines	162	(1)
Affine Sums	163	(1)
Convexity	164	(1)
Dot and Cross Products	164	(1)
Planes	165	(1)
Three-Dimensional Primitives	166	(2)
Coordinate Systems and Frames	168	(12)
Representations and N-Tuples	170	(1)
Change of Coordinate Systems	171	(2)
Example Change of Representation	173	(1)
Homogeneous Coordinates	174	(3)
Example Change in Frames	177	(2)
Working with Representations	179	(1)
Frames in OpenGL	180	(5)
Modeling a Colored Cube	185	(7)
Modeling the Faces	185	(1)
Inward- and Outward-Pointing Faces	186	(1)
Data Structures for Object Representation	187	(1)
The Color Cube	187	(2)
Bilinear Interpolation	189	(1)
Vertex Arrays	190	(2)
Affine Transformations	192	(2)
Translation, Rotation, and Scaling	194	(6)
Translation	195	(1)
Rotation	196	(1)
Scaling	197	(3)
Transformations in Homogeneous Coordinates	200	(4)
Translation	200	(1)
Scaling	201	(1)
Rotation	202	(1)
Shear	203	(1)
Concatenation of Transformations	204	(8)
Rotation About a Fixed Point	205	(2)
General Rotation	207	(1)
The Instance Transformation	208	(1)
Rotation About an Arbitrary Axis	209	(3)
OpenGL Transformation Matrices	212	(6)
The Current Transformation Matrix	213	(1)
Rotation, Translation, and Scaling	214	(1)
Rotation About a Fixed Point in OpenGL	214	(1)
Order of Transformations	215	(1)
Spinning of the Cube	216	(1)
Loading, Pushing, and Popping Matrices	217	(1)
Interfaces to Three-Dimensional Applications	218	(6)
Using Areas of the Screen	218	(1)
A Virtual Trackball	219	(3)
Smooth Rotations	222	(1)
Incremental Rotation	223	(1)
Quaternions	224	(9)
Complex Numbers and Quaternions	224	(1)
Quaternions and Rotation	225	(2)
Summary and Notes	227	(1)
Suggested Readings	228	(1)
Exercises	229	(4)
Viewing	233	(52)
Classical and Computer Viewing	233	(7)
Classical Viewing	235	(1)
Orthographic Projections	236	(1)
Axonometric Projections	237	(1)
Oblique Projections	238	(1)
Perspective Viewing	239	(1)
Viewing with a Computer	240	(2)
Positioning of the Camera	242	(10)
Positioning of the Camera Frame	242	(5)
Two Viewing APIs	247	(3)
The Look-At Function	250	(1)
Other Viewing APIs	251	(1)
Simple Projections	252	(4)
Perspective Projections	252	(3)
Orthogonal Projections	255	(1)
Projections in OpenGL	256	(4)
Perspective in OpenGL	257	(1)
Parallel Viewing in OpenGL	258	(2)
Hidden-Surface Removal	260	(2)
Culling	262	(1)
Interactive Mesh Displays	262	(5)
Meshes	262	(2)
Walking Through a Scene	264	(2)
Polygon Offset	266	(1)
Parallel-Projection Matrices	267	(7)
Projection Normalization	268	(1)
Orthogonal-Projection Matrices	268	(3)
Oblique Projections	271	(3)
Perspective-Projection Matrices	274	(5)
Perspective Normalization	274	(4)
OpenGL Perspective Transformations	278	(1)
Projections and Shadows	279	(6)
Summary and Notes	282	(1)
Suggested Readings	282	(1)
Exercises	283	(2)
Shading	285	(38)
Light and Matter	286	(3)
Light Sources	289	(4)
Color Sources	290	(1)
Ambient Light	290	(1)
Point Sources	291	(1)
Spotlights	292	(1)
Distant Light Sources	292	(1)
The Phong Reflection Model	293	(6)
Ambient Reflection	295	(1)
Diffuse Reflection	295	(2)
Specular Reflection	297	(1)
The Modified Phong Model	298	(1)
Computation of Vectors	299	(5)
Normal Vectors	300	(2)
Angle of Reflection	302	(2)
Polygonal Shading	304	(5)
Flat Shading	304	(2)
Smooth and Gouraud Shading	306	(2)
Phong Shading	308	(1)
Approximation of a Sphere by Recursive Subdivision	309	(3)
Light Sources in OpenGL	312	(2)
Specification of Materials in OpenGL	314	(2)
Shading of the Sphere Model	316	(1)
Global Illumination	317	(6)
Summary and Notes	319	(1)
Suggested Readings	320	(1)
Exercises	320	(3)
From Vertices to Fragments	323	(56)
Basic Implementation Strategies	324	(2)
Four Major Tasks	326	(4)
Modeling	326	(1)
Geometry Processing	327	(1)
Rasterization	328	(1)
Fragment Processing	329	(1)
Clipping	330	(1)
Line-Segment Clipping	330	(5)
Cohen-Sutherland Clipping	331	(2)
Liang-Barsky Clipping	333	(2)
Polygon Clipping	335	(3)
Clipping of Other Primitives	338	(2)
Bounding Boxes and Volumes	338	(1)
Curves, Surfaces, and Text	339	(1)
Clipping in the Frame Buffer	340	(1)
Clipping in Three Dimensions	340	(3)
Rasterization	343	(3)
Bresenham's Algorithm	346	(2)
Polygon Rasterization	348	(4)
Inside--Outside Testing	348	(2)
OpenGL and Concave Polygons	350	(1)
Fill and Sort	351	(1)
Flood Fill	351	(1)
Singularities	352	(1)
Hidden-Surface Removal	352	(11)
Object-Space and Image-Space Approaches	353	(1)
Sorting and Hidden-Surface Removal	354	(1)
Scanline Algorithms	355	(1)
Back-Face Removal	356	(1)
The z-Buffer Algorithm	357	(2)
Scan Conversion with the z-Buffer	359	(2)
Depth Sort and the Painter's Algorithm	361	(2)
Antialiasing	363	(2)
Display Considerations	365	(14)
Color Systems	366	(3)
The Color Matrix	369	(1)
Gamma Correction	370	(1)
Dithering and Halftoning	371	(1)
Summary and Notes	372	(1)
Suggested Readings	373	(1)
Exercises	374	(5)
Discrete Techniques	379	(70)
Buffers	379	(2)
Digital Images	381	(3)
Writing into Buffers	384	(4)
Writing Modes	385	(2)
Writing with XOR	387	(1)
Bit and Pixel Operations in OpenGL	388	(7)
OpenGL Buffers and the Pixel Pipeline	389	(1)
Bitmaps	390	(1)
Raster Fonts	391	(2)
Pixels and Images	393	(1)
Lookup Tables	394	(1)
Examples	395	(4)
The Mandelbrot Set	395	(3)
Testing Algorithms	398	(1)
Buffers for Picking	399	(1)
Mapping Methods	399	(2)
Texture Mapping	401	(7)
Two-Dimensional Texture Mapping	402	(6)
Texture Mapping in OpenGL	408	(10)
Two-Dimensional Texture Mapping	409	(3)
Texture Sampling	412	(3)
Working with Texture Coordinates	415	(2)
Texture Objects	417	(1)
Multitexturing	418	(1)
Texture Generation	418	(1)
Environment Maps	419	(6)
Compositing Techniques	425	(7)
Opacity and Blending	425	(1)
Image Compositing	426	(1)
Blending and Compositing in OpenGL	427	(1)
Antialiasing Revisited	428	(2)
Back-to-Front and Front-to-Back Rendering	430	(1)
Depth Cueing and Fog	431	(1)
Multirendering and the Accumulation Buffer	432	(5)
Scene Antialiasing	433	(1)
Bump Mapping and Embossing	433	(1)
Image Processing	434	(1)
Imaging Extensions	435	(1)
Other Multipass Methods	436	(1)
Sampling and Aliasing	437	(12)
Sampling Theory	437	(5)
Reconstruction	442	(2)
Quantization	444	(1)
Summary and Notes	444	(1)
Suggested Readings	445	(1)
Exercises	446	(3)
Programmable Shaders	449	(48)
Programmable Pipelines	449	(1)
Shading Languages	450	(2)
Shade Trees	451	(1)
Extending OpenGL	452	(2)
OpenGL Versions and Extensions	453	(1)
GLSL and Cg	454	(1)
The OpenGL Shading Language	454	(4)
Vertex Shaders	454	(3)
Fragment Shaders	457	(1)
The OpenGL Shading Language	458	(5)
GLSL Execution	458	(1)
Data Types and Qualifiers	459	(3)
Operators and Functions	462	(1)
Linking Shaders with OpenGL Programs	463	(2)
Moving Vertices	465	(5)
Scaling Vertex Positions	465	(2)
Morphing	467	(1)
Particle Systems	468	(2)
Lighting with Shaders	470	(4)
Phong Shading	470	(3)
Nonphotorealistic Shading	473	(1)
Fragment Shaders	474	(1)
Per-Vertex Versus Per-Fragment Phong Shading	474	(2)
Samplers	476	(4)
Cube Maps	480	(7)
Reflection Maps	480	(2)
Refraction	482	(3)
Normalization Maps	485	(2)
Bump Mapping	487	(10)
Finding Bump Maps	487	(2)
Bump Mapping with Height Fields	489	(1)
Bump Mapping with Fragment Shaders	490	(1)
Example	490	(2)
Summary and Notes	492	(1)
Suggested Readings	493	(1)
Exercises	493	(4)
Modeling	497	(72)
Symbols and Instances	498	(1)
Hierarchical Models	499	(2)
A Robot Arm	501	(3)
Trees and Traversal	504	(4)
A Stack-Based Traversal	505	(3)
Use of Tree Data Structures	508	(4)
Animation	512	(1)
Graphical Objects	513	(8)
Methods, Attributes, and Messages	514	(2)
A Cube Object	516	(2)
Implementing the Cube Object	518	(1)
Objects and Hierarchy	519	(1)
Geometric Objects	520	(1)
Scene Graphs	521	(2)
A Simple Scene Graph API	523	(16)
The Node Class	523	(2)
Geometry Nodes	525	(2)
Camera Class	527	(1)
Lights and Materials	528	(1)
Transformations	529	(1)
The Robot Figure	530	(2)
Implementing the Viewer	532	(4)
Implementing a Node	536	(3)
Other Tree Structures	539	(6)
CSG Trees	539	(2)
BSP Trees	541	(2)
Quadtrees and Octrees	543	(2)
Graphics and the Internet	545	(4)
Networks and Protocols	545	(1)
Hypermedia and HTML	546	(1)
Databases and VRML	547	(1)
Java and Applets	548	(1)
Procedural Methods	549	(2)
Physically Based Models and Particle Systems	551	(1)
Newtonian Particles	552	(5)
Independent Particles	554	(1)
Spring Forces	554	(2)
Attractive and Repulsive Forces	556	(1)
Solving Particle Systems	557	(3)
Constraints	560	(9)
Collisions	560	(3)
Soft Constraints	563	(1)
Summary and Notes	564	(1)
Suggested Readings	565	(1)
Exercises	565	(4)
Curves and Surfaces	569	(56)
Representation of Curves and Surfaces	569	(6)
Explicit Representation	569	(2)
Implicit Representations	571	(1)
Parametric Form	572	(1)
Parametric Polynomial Curves	573	(1)
Parametric Polynomial Surfaces	574	(1)
Design Criteria	575	(1)
Parametric Cubic Polynomial Curves	576	(1)
Interpolation	577	(6)
Blending Functions	579	(2)
The Cubic Interpolating Patch	581	(2)
Hermite Curves and Surfaces	583	(3)
The Hermite Form	583	(2)
Geometric and Parametric Continuity	585	(1)
Bezier Curves and Surfaces	586	(5)
Bezier Curves	586	(3)
Bezier Surface Patches	589	(2)
Cubic B-Splines	591	(5)
The Cubic B-Spline Curve	591	(3)
B-Splines and Basis	594	(1)
Spline Surfaces	595	(1)
General B-Splines	596	(4)
Recursively Defined B-Splines	597	(1)
Uniform Splines	598	(1)
Nonuniform B-Splines	599	(1)
Nurbs	599	(1)
Rendering of Curves and Surfaces	600	(8)
Polynomial Evaluation Methods	601	(1)
Recursive Subdivision of Bezier Polynomials	602	(3)
Rendering of Other Polynomial Curves by Subdivision	605	(1)
Subdivision of Bezier Surfaces	605	(3)
The Utah Teapot	608	(2)
Algebraic Surfaces	610	(5)
Quadrics	610	(1)
Rendering of Surfaces by Ray Casting	611	(1)
Subdivision Curves and Surfaces	611	(1)
Mesh Subdivision	612	(3)
Curves and Surfaces in OpenGL	615	(10)
Bezier Curves	616	(1)
Bezier Surfaces	617	(1)
Displaying the Teapot	618	(2)
Nurbs Functions	620	(1)
Quadrics	620	(1)
Summary and Notes	621	(1)
Suggested Readings	622	(1)
Exercises	622	(3)
Advanced Rendering	625	(38)
Going Beyond Pipeline Rendering	625	(1)
Ray Tracing	626	(4)
Building a Simple Ray Tracer	630	(6)
Recursive Ray Tracing	630	(2)
Calculating Intersections	632	(3)
Ray-Tracing Variations	635	(1)
The Rendering Equation	636	(2)
Radiosity	638	(8)
The Radiosity Equation	639	(1)
Solving the Radiosity Equation	640	(2)
Computing Form Factors	642	(2)
Carrying Out Radiosity	644	(2)
RenderMan	646	(1)
Large-Scale Rendering	647	(8)
Sort-Middle Rendering	648	(2)
Sort-Last Rendering	650	(3)
Sort-First Rendering	653	(2)
Image-Based Rendering	655	(8)
A Simple Example	655	(3)
Summary and Notes	658	(1)
Suggested Readings	659	(1)
Exercises	659	(4)
APPENDIX A SAMPLE PROGRAMS	663	(62)
A.1 Sierpinski Gasket Program	664	(2)
A.2 Recursive Generation of Sierpinski Gasket	666	(1)
A.3 Recursive Three-Dimensional Sierpinski Gasket	667	(3)
A.4 Marching Squares	670	(4)
A.5 Square Drawing Program	674	(3)
A.6 Paint Program	677	(7)
A.7 Double-Buffering Example	684	(2)
A.8 Selection-Mode Picking Program	686	(3)
A.9 Rotating-Cube Program	689	(2)
A.10 Rotating Cube Using Vertex Arrays	691	(2)
A.11 Rotating Cube with a Virtual Trackball	693	(4)
A.12 Moving Viewer	697	(3)
A.13 Sphere Program	700	(3)
A.14 Mandelbrot Set Program	703	(4)
A.15 Bresenham's Algorithm	707	(2)
A.16 Rotating Cube with Texture	709	(3)
A.17 GLSL Example	712	(4)
A.18 Scene-Graph Example	716	(5)
A.19 Program for Drawing Bezier Curves	721	(4)
APPENDIX B SPACES	725	(10)
B.1 Scalars	725	(1)
B.2 Vector Spaces	726	(2)
B.3 Affine Spaces	728	(1)
B.4 Euclidean Spaces	729	(1)
B.5 Projections	730	(1)
B.6 Gram-Schmidt Orthogonalization	731	(4)
Suggested Readings	732	(1)
Exercises	732	(3)
APPENDIX C MATRICES	735	(10)
C.1 Definitions	735	(1)
C.2 Matrix Operations	736	(1)
C.3 Row and Column Matrices	737	(1)
C.4 Rank	738	(1)
C.5 Change of Representation	739	(2)
C.6 The Cross Product	741	(1)
C.7 Eigenvalues and Eigenvectors	742	(3)
Suggested Readings	743	(1)
Exercises	744	(1)
APPENDIX D SYNOPSIS OF OPENGL FUNCTIONS	745	(18)
D.1 Specifying Simple Geometry	745	(1)
D.2 Attributes	746	(1)
D.3 Working with the Window System	747	(1)
D.4 Interaction	748	(2)
D.5 Enabling Features	750	(1)
D.6 Transformations	750	(1)
D.7 Viewing	751	(1)
D.8 Defining Discrete Primitives	752	(1)
D.9 Display Lists	753	(1)
D.10 Picking	754	(1)
D.11 Lighting	755	(1)
D.12 Texture Mapping	755	(2)
D.13 State and Buffer Manipulation	757	(1)
D.14 Vertex Arrays	757	(1)
D.15 Blending Functions	758	(1)
D.16 Query Functions	758	(1)
D.17 Curve and Surface Functions	758	(1)
D.18 GLU Quadrics	759	(1)
D.19 GLSL Functions	760	(3)
References	763	(8)
Function Index	771	(2)
Subject Index	773