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Catmull–Rom Curves

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Cubic Catmull–Rom curves with (b) uniform, (c) chordal and (d) centripetal parameterization. From Yuksel et. al: “Uniform parameterization overshoots and often generates cusps and intersections within short curve segments, while chord-length parameterization exhibits similar behavior for longer curve segments. Centripetal parameterization is the only one that guarantees no intersections within curve segments.”