flow visualization - tu wien€¦ · runge-kutta-integration streamlines in 2d particle paths in...
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Flow Visualization
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Eduard Gröller, Helwig Hauser 2
Overview: Flow Visualization (1)
Introduction, overviewFlow dataSimulation vs. measurement vs. modelling2D vs. surfaces vs. 3DSteady vs time-dependent flowDirect vs. indirect flow visualization
Experimental flow visualizationBasic possibilitiesPIV (Particle Image Velocimetry) + Example
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Eduard Gröller, Helwig Hauser 3
Overview: Flow Visualization (2)Visualization of modelsFlow visualization with arrowsNumerical integration
Euler-integrationRunge-Kutta-integration
StreamlinesIn 2DParticle pathsIn 3D, sweepsIlluminated streamlines
Streamline placement
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Eduard Gröller, Helwig Hauser 4
Overview: Flow Visualization (3)
Flow visualization with integral objectsStreamribbons, Streamsurfaces, stream arrows
Line integral convolutionAlgorithmExamples, alternatives
Glyphs & icons, flow topology
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Eduard Gröller, Helwig Hauser 5
Flow Visualization
Introduction:FlowVis = visualization of flows
Visualization of change informationTypically: more than 3 data dimensionsGeneral overview: even more difficult
Flow data:nDnD data, 1D2 /2D2/nD2 (models), 2D2/3D2
(simulations, measurements)Vector data (nD) in nD data space
User goals:Overview vs. details (with context)
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Flow Data
Where do the data come from:Flow simulation:
Airplane- / ship- / car-designWeather simulation (air-, sea-flows)Medicine (blood flows, etc.)
Flow measurements:Wind tunnel, fluid tunnelSchlieren-, shadow-technique
Flow models:Differential equation systems (ODE)(dynamical systems)
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Data Source – Examples 1/2
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Data Source – Examples 2/2
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Comparison with Reality
Experiment
Simulation
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2D vs. Surfaces vs. 3D
2D-Flow visualization2D2D-FlowsModels, slice flows (2D out of 3D)
Visualization of surface flows3D-flows around “obstacles”Boundary flows on surfaces (2D)
3D-Flow visualization3D3D-flowsSimulations, 3D-models
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2D/Surfaces/3D – Examples
2D
Surface
3D
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Steady vs. Time-Dependent Flows
Steady (time-independent) flows:Flow static over timev(x): RnRn, e.g., laminar flowsSimpler interrelationship
Time-dependent (unsteady) flows:Flow itself changes over timev(x,t): RnR1Rn, e.g., turbulent flowsMore complex interrelationship
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Time-Dependent vs. Steady Flow
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Direct vs. Indirect Flow Visualization
Direct flow visualization:Overview on current flow state Visualization of vectorsArrow plots, smearing techniques
Indirect flow visualization:Usage of intermediate representation:vector-field integration over timeVisualization of temporal evolutionStreamlines, streamsurfaces
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Direct vs. Indirect Flow Vis. – Example
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Experimental Flow VisualizationOptical Methods, etc.
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Injectionof color,smoke, particlesOpticalmethods:
Schlieren, shadows
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With Smoke rsp. Color Injection
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Example: Car-Design
Ferrari-model,so-called five-hole probe (no back flows)
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PIV: Particle Image Velocimetry
Laser + correlation analysis:Real flow, e.g., in wind tunnelInjection of particles (as uniform as possible)At interesting locations:2-times fast illumination with laser-sliceImage capture (high-speed camera), then correlation analysis of particlesVector calculation / reconstruction,typically only 2D-vectors
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PIV - Measurements
Setup and typical result:
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Example: Wing-Tip Vortex
Problem: Air behind airplanes is turbulent
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Visualization of Models
Dynamical Systems
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Differences:Flow analytically def.:dx/dt = v(x)Navier-Stokes equationsE.G.: Lorenz-system:dx/dt = (y-x)dy/dt = rx-y-xzdz/dt = xy-bzLarger variety in data:
2D, 3D, nDSometimes no natural constraints like non-compressibility or similar
Dynamical Systems Visualization
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Visualization of Models
Sketchy, “hand drawn”
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Visualization of 3D Models
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Flow Visualization with Arrows
Hedgehog plots, etc.
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Flow Visualization with Arrows
Aspects:Direct Flow VisualizationNormalized arrows vs. scaling with velocity2D: quite usable,3D: often problematicSometimes limitedexpressivity (temporal component missing)Often used!
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Arrows in 2D
Scaled arrows vs. color-coded arrows
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Arrows in 3D
Following problems:AmbiguityPerspective Shortening1D-objects in 3D:difficult spatial perceptionVisual clutter
Improvement:3D-arrows (help to a certain extent)
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Arrows in 3D
Compromise:Arrows only in slices
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Arrows in 3D
Well integrable within “real” 3D:
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Integration of Streamlines
Numerical Integration
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Streamlines – Theory
Correlations:flow data v: derivative informationdx/dt = v(x); spatial points xRn, time tR, flow vectors vRn
streamline s: integration over time,also called trajectory, solution, curves(t) = s0 + 0ut v(s(u)) du;seed point s0, integration variable udifficulty: result s also in the integral analytical solution usually impossible!
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Streamlines – Practice
Basic approach:theory: s(t) = s0 + 0ut v(s(u)) dupractice: numerical integrationidea: (very) locally, the solution is (approx.) linearEuler integration: follow the current flow vector v(si) from the current streamline point si for a very small time (dt) and therefore distanceEuler integration: si+1 = si + dt · v(si),integration of small steps (dt very small)
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Euler Integration – Example
2D model data: vx = dx/dt = yvy = dy/dt = x/2
Sample arrows:
Truesolution:ellipses!
0 1 2 3 4
0
1
2
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Euler Integration – Example
Seed point s0 = (0 | -1 )T;current flow vector v(s0) = (1 |0)T;dt = 1/2
0 1 2 3 4
0
1
2
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Euler Integration – Example
New point s1 = s0 + v(s0) ·dt = (1/2 | -1)T;current flow vector v(s1) = (1 |1/4)T;
0 1 2 3 4
0
1
2
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Euler Integration – Example
New point s2 = s1 + v(s1) ·dt = (1 | -7/8)T;current flow vector v(s2) = (7/8 |1/2)T;
0 1 2 3 4
0
1
2
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Euler Integration – Example
s3 = (23/16| -5/8 )T (1.44 | -0.63)T;v(s3) = (5/8 |23/32)T (0.63 |0.72)T;
0 1 2 3 4
0
1
2
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Euler Integration – Example
s4 = (7/4 | -17/64)T (1.75 | -0.27)T;v(s4) = (17/64|7/8)T (0.27 |0.88)T;
0 1 2 3 4
0
1
2
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Euler Integration – Example
s9 (0.20 |1.69)T;v(s9) ( -1.69 |0.10)T;
0 1 2 3 4
0
1
2
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Euler Integration – Example
s14 ( -3.22 | -0.10)T;v(s14) (0.10 | -1.61)T;
0 1 2 3 4
0
1
2
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Euler Integration – Example
s19 (0.75 | -3.02)T; v(s19) (3.02 |0.37)T;clearly: large integration error, dt too large!19 steps
0 1 2 3 4
0
1
2
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Euler Integration – Example
dt smaller (1/4): more steps, more exact! s36 (0.04 | -1.74)T; v(s36) (1.74 |0.02)T;36 steps
0 1 2 3 4
0
1
2
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Comparison Euler, Step Sizes
Euler is gettingbetter propor-tionally to dt
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Euler Example – Error Table
dt #steps error
1/2 19 ~200%1/4 36 ~75%
1/10 89 ~25%1/100 889 ~2%
1/1000 8889 ~0.2%
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Better than Euler Integr.: RK
Runge-Kutta Approach:theory: s(t) = s0 + 0ut v(s(u)) duEuler: si = s0 + 0u<i v(su) dtRunge-Kutta integration:
idea: cut short the curve arcRK-2 (second order RK):1.: do half a Euler step2.: evaluate flow vector there3.: use it in the originRK-2 (two evaluations of v per step):si+1 = si + v(si+v(si)·dt /2) ·dt
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RK-2 Integration – One Step
0 1 2 3 4
0
1
2
Seed point s0 = (0 | -2 )T;current flow vector v(s0) = (2 |0)T;preview vector v(s0+v(s0)·dt /2) = (2|0.5)T; dt = 1
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RK-2 – One more step
Seed point s1 = (2 | -1.5)T;current flow vector v(s1) = (1.5 |1)T;preview vector v(s1+v(s1)·dt /2) (1|1.4)T; dt = 1
0 1 2 3 4
0
1
2
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RK-2 – A Quick Round
RK-2: even with dt=1 (9 steps) better than Euler with dt=1/8(72 steps)
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Helwig Hauser 51
Integration, Conclusions
Summary:analytic determination of streamlines usually not possiblehence: numerical integrationseveral methods available(Euler, Runge-Kutta, etc.)Euler: simple, imprecise, esp. with small dtRK: more accurate in higher ordersfurthermore: adaptive methods, implicit methods, etc.
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Flow Visualizationwith Streamlines
Streamlines, Particle Paths, etc.
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Helwig Hauser 53
Streamlines in 2D
Adequatefor overview
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Particle paths =streamlines(steady flows)
Variants (time-dependent data):
streak lines:steadily newparticlespath lines:long-term pathof one particle
Helwig Hauser 54
Visualization with Particles
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Helwig Hauser, Eduard Gröller 55
Streamlines in 3D
Color coding:SpeedSelectivePlacement
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Helwig Hauser 56
3D Streamlines with Sweeps
Sweeps: better spatial 3D perception
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Helwig Hauser 57
Illuminated Streamlines
Illuminated 3D curves better 3Dperception!
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Streamline Placement
in 2D
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Helwig Hauser 59
Problem: Choice of Seed Points
Streamline placement:If regular grid used: very irregular result
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Helwig Hauser, Eduard Gröller 60
Overview of Algorithm
Idea: streamlines should not get too close to each otherApproach:
choose a seed point with distance dsep from an already existing streamlineforward- and backward-integration until distance dtest is reached (or …).two parameters:
dsep … start distancedtest … minimum distance
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Helwig Hauser 61
Algorithm – Pseudocode
Compute initial streamline, put it into a queueInitial streamline becomes current streamlineWHILE not finished DO:
TRY: get new seed point which is dsep away fromcurrent streamline
IF successful THEN compute new streamline and put to queue
ELSE IF no more streamline in queue THEN exit loopELSE next streamline in queue becomes
current streamline
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Helwig Hauser, Eduard Gröller 62
Streamline Termination
When to stop streamline integration:when dist. to neighboring streamline ≤ dtest
when streamline leaves flow domainwhen streamline runs into fixed point (v=0)when streamline gets too near to itselfafter a certain number of maximal steps
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Helwig Hauser 63
New Streamlines
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Helwig Hauser 64
Different Streamline Densities
Variations of dsep in rel. to image width:
6% 3% 1.5%
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Helwig Hauser 65
dsep vs. dtest
dtest = 0.9 · dsep dtest = 0.5 · dsep
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Helwig Hauser 66
Tapering and Glyphs
Thickness in rel. to dist.
Directionalglyphs:
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Flow Visualizationwith Integral Objects
Streamribbons, Streamsurfaces,
etc.
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Helwig Hauser 68
Integral Objects in 3D 1/3
Streamribbons
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Helwig Hauser 69
Integral Objects in 3D 2/3
Streamsurfaces
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Helwig Hauser 70
Stream Arrows
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Helwig Hauser 71
Integral Objects in 3D 3/3
Flow volumes …
vs. streamtubes(similar to streamribbon)
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Helwig Hauser 72
Relation to Seed Objects
IntegralObj. Dim. SeedObj. Dim.______________________________________________________________________________________________________
Streamline,… 1D Point 0DStreamribbon 1D++ Point+pt. 0D+0DStreamtube 1D++ Pt.+cont. 0D+1D______________________________________________________________________________________________________
Streamsurface 2D Curve 1D______________________________________________________________________________________________________
Flow volume 3D Patch 2D
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Line Integral Convolution
Flow Visualization in 2D or on surfaces
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Helwig Hauser 74
LIC – Introduction
Aspects:goal: general overview of flowApproach: usage of texturesIdea: flow visual correlationExample:
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Helwig Hauser, Eduard Gröller 75
LIC – Approach
LIC idea:for every texel: let the texture value…
… correlate with neighboring texture values along the flow (in flow direction)… not correlate with neighboring texture values across the flow (normal to flow dir.)
result: along streamlines the texture values are correlated visually coherent!approach: “smudge” white noise (no a priori correlations) along flow
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Helwig Hauser 76
LIC – Steps
Calculation of a texture value:
look at streamline through pointfilter white noise along streamline
Flow Data
Streamline (DDA)
White Noise
LIC Texel
Integration
Convolutionwith
results in
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Helwig Hauser 77
LIC – Convolution with Noise
Calculation of LIC texture:input 1: flow data v(x): RnRn, analytically or interpolatedinput 2: white noise n(x): RnR1, normally precomputed as texturestreamline sx(u) through x: R1Rn, sx(u) = x + sgn(u) 0t|u| v(sx(sgn(u)t)) dtinput 3: filter h(t): R1R1, e.g., Gaussresult: texture value lic(x): RnR1, lic(x) = lic(sx(0)) = n(sx(u))·h(u) du
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Helwig Hauser 78
More Explanation
So:LIC – lic(x) – is a convolution of
white noise n (or …)and a smoothing filter h (e.g. a Gaussian)
The noise texture values are picked up along streamlines sx through x
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Helwig Hauser 79
LIC – Example in 2D
quite laminar flow
quite turbulent flow
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Helwig Hauser 80
LIC – Examples on Surfaces
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Helwig Hauser 81
Arrows vs. StrLines vs. Textures
Streamlines: selectiveArrows: well..
Textures: 2D-filling
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Similar approaches:spot noisevector kernelline bundles / splatstextured splatsparticle systemsflow volumestexture advection
Helwig Hauser 82
Alternatives to LIC
motionblurredparticles
spot noise
flow volume
textured splats
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Flow Visualizationdependent on local props.
Visualization of v
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Helwig Hauser 84
Glyphs resp. Icons
Local / topologicalproperties
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Helwig Hauser 85
Icons in 2D
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Helwig Hauser 86
Icons & Glyphs in 3D
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Helwig Hauser 87
Flow Topology
Topology:abstractstructureof a flow
differentelements, e.g.:
checkpoints, defined through v(x)=0cycles, defined through sx(t+T)=sx(t)connecting structures (separatrices, etc.)
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Helwig Hauser 88
Flow Topology in 3D
Topology on surfaces:
fixedpointssepara-trices
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Helwig Hauser 89
Flow Topology in 3D
Lorenz system:
1 saddle2 saddlefoci1 chaotic attractor
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Helwig Hauser 90
Timesurfaces
Idea:start surface, e.g. part of a planemove whole surface along flow over timetime surface: surface at one point in time
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Literature, ReferencesB. Jobard & W. Lefer: “Creating Evenly-Spaced Streamlines of Arbitrary Density” in Proceedings of 8th Eurographics Workshop on Visualization in Scientific Computing, April 1997, pp. 45-55B. Cabral & L. Leedom: “Imaging Vector Fields Using Line Integral Convolution” in Proceedings of SIGGRAPH ‘93 = Computer Graphics 27, 1993, pp. 263-270D. Stalling & H.-C. Hege: “Fast and Resolution Independent Line Integral Convolution” in Proceedings of SIGGRAPH ‘95 = Computer Graphics 29, 1995, pp. 249-256Frits H. Post, Benjamin Vrolijk, Helwig Hauser, Robert S. Laramee, Helmut Doleisch: The State of the Art in Flow Visualization: Feature Extraction and Tracking. Published in journal Computer Graphics Forum (Blackwell CGF) 22(4), pp. 775-792, 2003. [http://wwwx.cs.unc.edu/~taylorr/Comp715/papers/j.1467-8659.2003.00723.x.pdf]Robert S. Laramee, Helwig Hauser, Helmut Doleisch, Benjamin Vrolijk, Frits H. Post, Daniel Weiskopf: The State of the Art in Flow Visualization: Dense and Texture-based Techniques. Published in journal Computer Graphics Forum (Blackwell CGF) 23(2), pp. 203-222, 2004. [http://wwwx.cs.unc.edu/~taylorr/Comp715/papers/j.1467-8659.2004.00753.x.pdf]http://www.winslam.com/rlaramee/swirl-tumble/
Eduard Gröller, Helwig Hauser 91
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AcknowledgementsFor material for this lecture unit
Hans-Georg PagendarmRoger CrawfisLloyd TreinishDavid KenwrightTerry HewittBruno JobardMalte ZöcklerGeorg FischelHelwig HauserBruno JobardJeff HultquistLukas Mroz, Rainer WegenkittlNelson Max, Will Schroeder et al.Brian Cabral & Leith LeedomDavid KenwrightRüdiger WestermannJack van Wijk, Freik Reinders, Frits Post, Alexandru Telea, Ari SadarjoenBob Laramee, Daniel Weiskopf, Jürgen Schneider
Eduard Gröller, Helwig Hauser 92