unfolding polyhedral surfaces joseph orourke smith college
TRANSCRIPT
Unfolding Unfolding Polyhedral Polyhedral SurfacesSurfacesJoseph O’RourkeJoseph O’Rourke
Smith CollegeSmith College
OutlineOutline
What is an unfolding?What is an unfolding? Why study?Why study? Main questions: statusMain questions: status Convex: edge unfoldingConvex: edge unfolding Convex: general unfoldingConvex: general unfolding Nonconvex: edge unfoldingNonconvex: edge unfolding Nonconvex: general unfoldingNonconvex: general unfolding
Orthogonal polyhedraOrthogonal polyhedra
ten1.mov
What is an unfolding?What is an unfolding?
Cut surface and unfold to a Cut surface and unfold to a single nonoverlapping single nonoverlapping piece in the plane.piece in the plane.
What is an unfolding?What is an unfolding?
Cut surfaceCut surface and unfold to a and unfold to a single nonoverlapping single nonoverlapping piece in the plane.piece in the plane.
Unfolding PolyhedraUnfolding Polyhedra Two types of unfoldings:Two types of unfoldings:
EdgeEdge unfoldings unfoldings: Cut only along edges: Cut only along edges GeneralGeneral unfoldings unfoldings: Cut through faces too: Cut through faces too
What is an unfolding?What is an unfolding?
Cut surface and unfold to Cut surface and unfold to a a single nonoverlapping single nonoverlapping piecepiece in the plane. in the plane.
Cube with one corner Cube with one corner truncatedtruncated
““Sliver” TetrahedronSliver” Tetrahedron
Cut Edges form Cut Edges form Spanning TreeSpanning Tree
Lemma: The cut edges of an edge Lemma: The cut edges of an edge unfolding of a convex polyhedron unfolding of a convex polyhedron to to a simple polygona simple polygon form a spanning form a spanning tree of the 1-skeleton of the tree of the 1-skeleton of the polyhedron.polyhedron.
Polygons: Simple vs. Polygons: Simple vs. Weakly SimpleWeakly Simple
Nonsimple PolygonsNonsimple Polygons
Andrea Mantler exampleAndrea Mantler example
Cut edges: strengtheningCut edges: strengthening
Lemma: The cut edges of an edge Lemma: The cut edges of an edge unfolding of a unfolding of a convexconvex polyhedron polyhedron to to a single, connected piecea single, connected piece form a form a spanning tree of the 1-skeleton of spanning tree of the 1-skeleton of the polyhedron.the polyhedron.
[Bern, Demaine, Eppstein, Kuo, Mantler, O’Rourke, [Bern, Demaine, Eppstein, Kuo, Mantler, O’Rourke, Snoeyink 01]Snoeyink 01]
What is an unfolding?What is an unfolding?
Cut surface and Cut surface and unfoldunfold to a to a single nonoverlapping single nonoverlapping piece piece in the planein the plane..
Cuboctahedron unfoldingCuboctahedron unfolding[Matthew Chadwick][Matthew Chadwick]
[Biedl, Lubiw, Sun, 2005]
OutlineOutline
What is an unfolding?What is an unfolding? Why study?Why study? Main questions: statusMain questions: status Convex: edge unfoldingConvex: edge unfolding Convex: general unfoldingConvex: general unfolding Nonconvex: edge unfoldingNonconvex: edge unfolding Nonconvex: general unfoldingNonconvex: general unfolding
Orthogonal polyhedraOrthogonal polyhedra
Lundström Design, http://www.algonet.se/~ludesign/index.html
OutlineOutline
What is an unfolding?What is an unfolding? Why study?Why study? Main questions: statusMain questions: status Convex: edge unfoldingConvex: edge unfolding Convex: general unfoldingConvex: general unfolding Nonconvex: edge unfoldingNonconvex: edge unfolding Nonconvex: general unfoldingNonconvex: general unfolding
Orthogonal polyhedraOrthogonal polyhedra
Status of main questionsStatus of main questions
ShapesShapes Edge Edge Unfolding?Unfolding?
General General Unfolding?Unfolding?
Convex Convex polyhedrapolyhedra
?????? Yes: always Yes: always possiblepossible
Nonconvex Nonconvex polyhedrapolyhedra
No: not No: not always always
possiblepossible
??????
Status of main questionsStatus of main questions
ShapesShapes Edge Edge UnfoldingUnfolding
??
General General Unfolding?Unfolding?
Convex Convex polyhedrapolyhedra
?????? Yes: always Yes: always possiblepossible
Nonconvex Nonconvex polyhedrapolyhedra
No: not No: not always always
possiblepossible
??????
Open: Open: Edge-Unfolding Convex Edge-Unfolding Convex
PolyhedraPolyhedra
Does every convex polyhedron have Does every convex polyhedron have an edge-unfolding to a simple, an edge-unfolding to a simple, nonoverlapping polygon?nonoverlapping polygon?
[Shephard, 1975]
Albrecht DAlbrecht Düürer, 1425rer, 1425
Melancholia I
Albrecht DAlbrecht Düürer, 1425rer, 1425
Snub Cube
Unfolding the Platonic Unfolding the Platonic SolidsSolids
Some nets:http://www.cs.washington.edu/homes/dougz/polyhedra/
Archimedian SolidsArchimedian Solids [Eric Weisstein]
SclickenriederSclickenrieder11::steepest-edge-unfoldsteepest-edge-unfold
“Nets of Polyhedra”TU Berlin, 1997
SclickenriederSclickenrieder22::flat-spanning-tree-unfoldflat-spanning-tree-unfold
SclickenriederSclickenrieder33::rightmost-ascending-edge-rightmost-ascending-edge-
unfoldunfold
SclickenriederSclickenrieder44::normal-order-unfoldnormal-order-unfold
Percent Random Unfoldings Percent Random Unfoldings that Overlapthat Overlap[O’Rourke, Schevon 1987]
Classes of Convex Classes of Convex PolyhedraPolyhedra
with Edge-Unfolding with Edge-Unfolding AlgorithmsAlgorithms PrismsPrisms
PrismoidsPrismoids ““Domes”Domes” ““Bands”Bands” Radially monotone lattice Radially monotone lattice
quadrilateralsquadrilaterals Prismatoids???Prismatoids???
PrismoidsPrismoids
Convex top A and bottom B, equiangular.Edges parallel; lateral faces quadrilaterals.
Overlapping UnfoldingOverlapping Unfolding
Volcano UnfoldingVolcano Unfolding
Unfolding “Domes”Unfolding “Domes”
Proof via degree-3 leaf Proof via degree-3 leaf truncationtruncation
[Benton, JOR, 2007]dodec.wmv
Lattice Quadrilateral Lattice Quadrilateral Convex CapsConvex Caps
Classes of Convex Classes of Convex PolyhedraPolyhedra
with Edge-Unfolding with Edge-Unfolding AlgorithmsAlgorithms PrismsPrisms
PrismoidsPrismoids ““Domes”Domes” ““Bands”Bands” Radially monotone lattice Radially monotone lattice
quadrilateralsquadrilaterals Prismatoids???Prismatoids???
Unfolding Smooth Unfolding Smooth PrismatoidsPrismatoids
[Benbernou, Cahn, JOR 2004]
Open: Fewest NetsOpen: Fewest Nets
For a convex For a convex polyhedron of polyhedron of nn vertices and vertices and FF faces, what is the faces, what is the fewest number of fewest number of nets (simple, nets (simple, nonoverlapping nonoverlapping polygons) into polygons) into which it may be cut which it may be cut along edges?along edges?
≤ F
≤ (2/3)F [Spriggs][Spriggs]
≤ (1/2)F [Dujmenovi[Dujmenovic, Moran, c, Moran, Wood]Wood]
≤ (3/8)F [Pincu, [Pincu, 2007]2007]
OutlineOutline
What is an unfolding?What is an unfolding? Why study?Why study? Main questions: statusMain questions: status Convex: edge unfoldingConvex: edge unfolding Convex: general unfoldingConvex: general unfolding Nonconvex: edge unfoldingNonconvex: edge unfolding Nonconvex: general unfoldingNonconvex: general unfolding
Orthogonal polyhedraOrthogonal polyhedra
Status of main questionsStatus of main questions
ShapesShapes Edge Edge Unfolding?Unfolding?
General General UnfoldingUnfolding
??
Convex Convex polyhedrapolyhedra
?????? Yes: always Yes: always possiblepossible
Nonconvex Nonconvex polyhedrapolyhedra
No: not No: not always always
possiblepossible
??????
TheoremTheorem: Every : Every convexconvex polyhedron polyhedron has a has a generalgeneral nonoverlapping nonoverlapping unfolding (a net).unfolding (a net).
General Unfoldings of General Unfoldings of Convex PolyhedraConvex Polyhedra
1)1) Source unfolding [Sharir & Schorr ’86, Source unfolding [Sharir & Schorr ’86, Mitchell, Mount, Papadimitrou ’87]Mitchell, Mount, Papadimitrou ’87]
2)2) Star unfolding [Aronov & JOR ’92]Star unfolding [Aronov & JOR ’92]
3)3) Quasigeodesic unfolding [Itoh, JOR, Quasigeodesic unfolding [Itoh, JOR, Vilcu, 2007]Vilcu, 2007]
[Poincare?]
Shortest paths from x to all Shortest paths from x to all verticesvertices
Source UnfoldingSource Unfolding
Star UnfoldingStar Unfolding
Star-unfolding of 30-vertex Star-unfolding of 30-vertex convex polyhedronconvex polyhedron
[Alexandrov, 1950]
Geodesics & Closed Geodesics & Closed GeodesicsGeodesics
GeodesicGeodesic: locally shortest path; : locally shortest path; straightest lines on surfacestraightest lines on surface
Simple geodesicSimple geodesic: non-self-intersecting: non-self-intersecting Simple, Simple, closed geodesicclosed geodesic::
Closed geodesic: returns to start w/o cornerClosed geodesic: returns to start w/o corner Geodesic loop: returns to start at cornerGeodesic loop: returns to start at corner
(closed geodesic = simple, closed (closed geodesic = simple, closed geodesic)geodesic)
Lyusternick-Schnirelmann Lyusternick-Schnirelmann TheoremTheorem
Theorem:Theorem: Every closed surface Every closed surface homeomorphic to a sphere has at least homeomorphic to a sphere has at least three, distinct closed geodesics.three, distinct closed geodesics.
Birkoff 1927: at least one closed geodesicBirkoff 1927: at least one closed geodesic LS 1929: at least threeLS 1929: at least three ““gaps” filled in 1978 [BTZ83]gaps” filled in 1978 [BTZ83] Pogorelov 1949: extended to polyhedral Pogorelov 1949: extended to polyhedral
surfacessurfaces
QuasigeodesicQuasigeodesic
Aleksandrov 1948Aleksandrov 1948 left(p) = total incident face angle left(p) = total incident face angle
from leftfrom left quasigeodesic: curve s.t. quasigeodesic: curve s.t.
left(p) ≤ left(p) ≤ right(p) ≤ right(p) ≤
at each point p of curve.at each point p of curve.
Closed QuasigeodesicClosed Quasigeodesic
[Lysyanskaya, O’Rourke 1996]
Open: Find a Closed Open: Find a Closed QuasigeodesicQuasigeodesic
Is there an algorithmIs there an algorithmpolynomial timepolynomial time
or efficient numerical algorithmor efficient numerical algorithm
for finding a closed quasigeodesic on a for finding a closed quasigeodesic on a (convex) polyhedron?(convex) polyhedron?
Exponential Number of Exponential Number of Closed GeodesicsClosed Geodesics
Theorem: 2(n) distinct closed quasigeodesics.
[Aronov & JOR 2002]
Status of main questionsStatus of main questions
ShapesShapes Edge Edge UnfoldingUnfolding
??
General General Unfolding?Unfolding?
Convex Convex polyhedrapolyhedra
?????? Yes: always Yes: always possiblepossible
NonconveNonconvex x polyhedrapolyhedra
No: not No: not always always
possiblepossible
??????
Edge-Ununfoldable Orthogonal Edge-Ununfoldable Orthogonal PolyhedraPolyhedra
[Biedl, Demaine, Demaine, Lubiw, JOR, Overmars, Robbins, Whitesides, ‘98]
Spiked TetrahedronSpiked Tetrahedron
[Tarasov ‘99] [Grünbaum ‘01] [Bern, Demaine, Eppstein, [Tarasov ‘99] [Grünbaum ‘01] [Bern, Demaine, Eppstein, Kuo ’99]Kuo ’99]
Unfoldability of Spiked Unfoldability of Spiked TetrahedronTetrahedron
TheoremTheorem: Spiked tetrahedron is: Spiked tetrahedron isedge-ununfoldableedge-ununfoldable
(BDEKMS ’99)(BDEKMS ’99)
Overlapping Star-Overlapping Star-UnfoldingUnfolding
OutlineOutline
What is an unfolding?What is an unfolding? Why study?Why study? Main questions: statusMain questions: status Convex: edge unfoldingConvex: edge unfolding Convex: general unfoldingConvex: general unfolding Nonconvex: edge unfoldingNonconvex: edge unfolding Nonconvex: general unfoldingNonconvex: general unfolding
Orthogonal polyhedraOrthogonal polyhedra
Status of main questionsStatus of main questions
ShapesShapes Edge Edge Unfolding?Unfolding?
General General Unfolding?Unfolding?
Convex Convex polyhedrapolyhedra
?????? Yes: always Yes: always possiblepossible
NonconveNonconvex x polyhedrapolyhedra
No: not No: not always always
possiblepossible
??????
Overlapping Source Overlapping Source UnfoldingUnfolding
[Kineva, JOR 2000]
Status of main questionsStatus of main questionsShapesShapes Edge Edge
Unfolding?Unfolding?General General
UnfoldingUnfolding??
Convex Convex polyhedrapolyhedra
?????? Yes: always Yes: always possiblepossible
Nonconvex Nonconvex polyhedrapolyhedra
No: not No: not always always
possiblepossible
??????
OrthogonOrthogonal al
polyhedrapolyhedra
No: not No: not always always
possiblepossible
Yes: always Yes: always possiblepossible
Orthogonal Polygon / Orthogonal Polygon / PolyhedronPolyhedron
Grid refinement: Orthogonal Grid refinement: Orthogonal PolyhedraPolyhedra
[DIL04] [DM04]
Types of UnfoldingsTypes of Unfoldings
Gridding HierarchyGridding Hierarchy
Edge Unfolding
1 x 1
k1 x k2
polycubes/lattice
O(1) x O(1)
2O(n) x 2O(n)
Original polyhedral edges
1 x 1
k1 x k2
polycubes/lattice
O(1) x O(1)
2O(n) x 2O(n)
All genus-0 o-polyhedrao-terrains;o-convex o-stacks
All genus-0 o-polyhedra
o-stacks: 1 x 2Manhattan towers: 4 x 5
o-stacks
Not always possibleNot always possible
Edge-Edge-UnfUnf
Vertex-Vertex-UnfUnf
Orthogonal TerrainOrthogonal Terrain
Four algorithmic Four algorithmic techniquestechniques
1)1) Strip/Staircase unfoldingsStrip/Staircase unfoldings
2)2) Recursive unfoldingsRecursive unfoldings
3)3) Spiraling unfoldingsSpiraling unfoldings
4)4) Nested spiralsNested spirals
Four algorithmic Four algorithmic techniquestechniques
1)1) Strip/Staircase unfoldingsStrip/Staircase unfoldings
2)2) Recursive unfoldingsRecursive unfoldings
3)3) Spiraling unfoldingsSpiraling unfoldings
4)4) Nested spiralsNested spirals[Damian, Flatland, JOR ’05]
4x5 grid unfolding Manhattan towers
Original polyhedral edges
1 x 1
k1 x k2
polycubes/lattice
O(1) x O(1)
2O(n) x 2O(n)
All genus-0 o-polyhedrao-terrains
o-stacks: 1 x 2Manhattan towers: 4 x 5
o-stacks
Not always possibleNot always possible
Edge-Edge-UnfUnf
Vertex-Vertex-UnfUnf
All genus-0 o-polyhedra
Manhattan TowerManhattan Tower
Single Box UnfoldingSingle Box Unfolding
Suturing two spiralsSuturing two spirals
Suture AnimationSuture Animation
Animation by Robin Flatland & Ray Navarette, Siena College
rdsuture_4x.wmv
Four algorithmic Four algorithmic techniquestechniques
1)1) Strip/Staircase unfoldingsStrip/Staircase unfoldings
2)2) Recursive unfoldingsRecursive unfoldings
3)3) Spiraling unfoldingsSpiraling unfoldings
4)4) Nested spiralsNested spirals
[Damian, Flatland, JOR ’06b]
-unfolding orthogonal polyhedra
Original polyhedral edges
1 x 1
k1 x k2
polycubes/lattice
O(1) x O(1)
2O(n) x 2O(n)
All genus-0 o-polyhedrao-terrains
o-stacks: 1 x 2Manhattan towers: 4 x 5
o-stacks
Not always possibleNot always possible
Edge-Edge-UnfUnf
Vertex-Vertex-UnfUnf
All genus-0 o-polyhedra
Band unfolding tree (for Band unfolding tree (for extrusion)extrusion)
Visiting front childrenVisiting front children
Visiting back childrenVisiting back children
Retrace entire path back to Retrace entire path back to entrance pointentrance point
Deeper recursionDeeper recursion
4-block 4-block exampleexample
b0b1b2b3b4
ResultResult
Arbitrary genus-0 Orthogonal Arbitrary genus-0 Orthogonal Polyhedra have a general unfolding Polyhedra have a general unfolding into one piece,into one piece, which may be viewed as a 2which may be viewed as a 2nn x 2 x 2nn grid grid
unfoldingunfolding (and so is, in places, 1/2(and so is, in places, 1/2nn thin). thin).
Arbitrary (non-orthogonal) polyhedra: Arbitrary (non-orthogonal) polyhedra: still open.still open.
Status of main questionsStatus of main questions
ShapesShapes Edge Edge Unfolding?Unfolding?
General General Unfolding?Unfolding?
Convex Convex polyhedrapolyhedra
?????? Yes: always Yes: always possiblepossible
NonconveNonconvex x polyhedrapolyhedra
No: not No: not always always
possiblepossible
??????