biogeometry: molecular shape representation using …amenta/w11/cg-lectures.pdf · biogeometry:...
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Biogeometry:
Molecular Shape Representation
Using Delaunay Triangulation
Xinwei Shi
[email protected] Center, UC Davis
Feb 08 and 11, 2011
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Molecule
• A molecule is a collection of at least two atoms
held together by chemical bonds
• An atom is a solid objects centered at its nucleus
carrying an electrical charge
• Geometrically, we consider each atom as a ball
with a specific center and radius; a molecule can
be viewed as a union of balls.
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Molecule
Number of atoms in a molecule ranges from 2 to millions
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Geometry is central
Unfolded State Folded State
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Geometry is central
Function depends
On protein shape
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Geometric Computing for Studying
Biomolecules
• Visualization of proteins and DNAs
• Size and measures
• Shape similarity and complementarity
• Shape deformation
• Simulations
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Molecular Shape Representation• Three existing surface models for molecules
Van der Waals surface Solvent accessible
surface
Molecular surface
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Molecular Shape Representation• Disadvantage
• Lack of smoothness
An example of the self-intersection of molecular surface
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A New paradigm--Skin Surface
• Edelsbrunner, 1998 (part of the alpha shape
theory)
• Based on a framework using Delaunay
triangulation and Voronoi diagram
• Meshing of skin surfaces using Delaunay
triangulation
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Skin Definition
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Skin surface
• A skin FB is specified by a set of weighted
point
• In three dimensions, the skin surface is a tangent
smooth surface free of self-intersection
}1|),({ n,iRRwzbB di ii
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Sphere Algebra
• Addition
• Scalar multiplication
• Shrinking
))||||)1((,(),( 2
iiiii zcwczcwzc
),2,(),(),( jijijijjii zzwwzzwzwz
)2/,(),( 2/1
iiii wzwz
}|{ BbbB ii
c real number; <, > dot product
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Convex Hull of B
}0,1|{)(conv
i
i
i
Bb
ii
i
bB
}1|{)(aff i
i
Bb
ii
i
bB
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Lifting Map
• Every circle in R2, its projection under the lifting
map is the intersection of the paraboloid with a
three dimensional plane
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Lifting Map
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Lifting Map
• Convex hull of a set of circles is the projection of
the upper hull of their lifting planes
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Convex combination
)(aff Bb j
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An example
An example when card(B) =2 in R2
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Orthogoanality
• Two circles are called orthogonal circles if only
if their weighted distance is zero
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Revisit Lifting Map
• Each point on the lifting plane is corresponding
to a orthogonal circle of its preimage
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Coaxal system
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Shrinking
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Envelopes
• An envelope of a family of curves in the plane is a curve
that is tangent to each member of the family at some point.
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Skin and body
• For a general finite set B, the skin FB is the
envelope of the shrinking convex hull of B:
))(( BconvenvSKNB
))(( BconvBDYB
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The Example
• B = {b1, b2 }
)(Bconvconv(B) ))(( Bconvenv
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Another Example
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Complementarity
• The orthogonal sphere set of B, specifies
the same skin as B
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An example
The molecular skin model of protein gramcidA. and a complementary
portion
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Skin Decomposition
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Skin
• A skin is composed of a set of quadratic pieces
that joined each other smoothly
• We can decompose a skin surface into simple
pieces using the Delaunay triangulation and its
dual Voronoi diagram
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Weighted Delaunay Triangulation
Weighted Voronoi Diagram and Delaunay triangulation
defined by 4 spheres in R2
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Mixed Complex
• The mixed complex MB partition the space to
convex polyhedraMixed complex:
Weighted Delaunay
triangulation DB
Weighted Voronoi
Diagram VB
X
BX
BBB VDM
2/)(
shrinking Minkowski sum
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Skin decomposition
• The skin clipped in each mixed cell is quadratic
XXB XaffenvF ))((
Skin
Mixed complex
In 2 dimensions,
card(X) =1, sphere
card(X) =2, hyperbola
card(X) =3, sphere
(inverse)
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Mixed Cells in R3
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Quadratic Patches in R3
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Complexity
• Number of quadratic patches in the skin surface
specified by n spheres can O(n2)
• For molecules, the number of patches is usually
linear to the number of atoms
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Three dimensional example
Sphere patches Hyperboloid patches
card(X) =1, 4 card(X) =2, 3
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Skin surfaces
A protein Face model
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Skin surfaces
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Adaptive Meshing
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Meshing
• A meshing, or triangulation of a surface F is a
simplicial complex whose underlying space is
homemorphic to F.
• Geometry preserved
• Hausdorff distance between the surface and mesh has a
upper bound
• High mesh quality.
• The smallest angle of the mesh has a lower bound
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Simplicial Complex
• Simplex
• Simplicial complex and its underlying space
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Homeomorphism
• A map f is a homeomorphism if it is bijective and
has a continuous inverse
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Adaptive
• Triangle
size in the
adapts the
local
surface
geometry
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Curvature--Plane curves
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Surface curvature
• Principle Normal Curvature
• Euler’s formula (1760)
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Curvature of skin surface
• Constant curvature
(1/R) on spherical
patches
• On a hyperboloid,
the maximum more
curvature is 1 over
the radius of
sandwiching
sphere
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Curvature variation
• The radius of the maximum curvature (local length scale) of the skin surface satisfies the 1-Lipschitz condition,
• This property implies that the curvature varies slowly on the surface.
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Local length scale
• The local length scale at a point x on the skin surface is the lower bound of the local feature size lfz(x),
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Adaptive Meshing
• Generation of an adaptive sampling.
• Construct a triangulation using the samples.
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ε-sampling of the Skin Surface
• A dense sample points set in terms of the local
length scale
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Restricted Delaunay triangulation
• A set of points
• Restricted Voronoi polygon of
• Restricted Voronoi Diagram
• Restricted Delaunay triangulation of FB
is the dual of VT
BFT
Ta
Baa F '
',,' aaT TaV
'TD
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Homeomorphism Theorem
• Closed Ball Property
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ε need to be small
• Require ε < 0.179 for skin surfaces
• Precise approximation of the geometry as well
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Even ε-sampling
• Two sample points should not be too close to
each other
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Skin Meshing using Restricted
Union of Balls
![Page 60: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/60.jpg)
Overview of the algorithm
• Generate an even ε-sampling incrementally
• Construct the Delaunay triangulation of the
sample points simultaneously
• Extract the restricted Delaunay triangulation as the
surface mesh
![Page 61: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/61.jpg)
Even ε-sampling
• Using a set of r balls,
• Restricted union of balls: the intersection of the
union of r balls and the skin surface
![Page 62: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/62.jpg)
Observation
• If the restricted union of balls covers the whole
surface with some feasible r value, the RDT of
the sample points is homeomorphic to the
surface and has a lower bound on its minimum
angle.
![Page 63: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/63.jpg)
Theorem
• If the restricted union of balls covers the whole
surface with 0< r < ε/(1+ ε), the RDT of the
sample points is homeomorphic to the surface
and has a lower bound 20o on its minimum
angle.
![Page 64: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/64.jpg)
Construct the Restricted Union of Ball
• Start from four seed point,
• Add new points and put r balls on the boundary of
the RUB
• Compute the Delaunay triangulation and extract
surface triangles and update the front
![Page 65: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/65.jpg)
Extract surface triangles
• Small radius property
• Restricted Delauany
property
![Page 66: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/66.jpg)
Surface Mesh
![Page 67: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/67.jpg)
More examples
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Mesh Quality
Skin model for a protein
![Page 69: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/69.jpg)
Quality statistics
![Page 70: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/70.jpg)
Tetrahedral Meshes
![Page 71: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/71.jpg)
Initial Tetrahedralization
• Build a coarse tetrahedral mesh for the volume
from the surface mesh
![Page 72: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/72.jpg)
Tetrahedral Quality
• Radius-edge ratio
clr Skinny tetrahedra
![Page 73: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/73.jpg)
Quality Improvement
• Delaunay Refinement
• Insert the circumcenter of the skinny tetrahedron
iteratively
![Page 74: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/74.jpg)
Challenges
• Boundary protection
• The circumcenter of a skinny tetrahedron may be
outside the skin volume
• Result of the tetrahedral mesh not conform to the
boundary
![Page 75: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/75.jpg)
Prioritized Delaunay Refinement
• Insert the circumcenters from the region inside the
skin volume to the region near the surface, so that,
• The circumcenters of the skinny tetrahedra are
always inside the volume.
![Page 76: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/76.jpg)
Prioritized Delaunay Refinement
• Distance function
![Page 77: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/77.jpg)
Prioritized Delaunay Refinement
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An examples
![Page 79: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/79.jpg)
Results
![Page 80: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/80.jpg)
Calculating Molecular Electrostatics
• Poisson Boltzmann equation describes the
electrostatic potential using the continuum
model of molecules in ionic solution
![Page 81: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/81.jpg)
Multigrids Method for Solving PBE
• Construct of a hierarchy of meshes
• Solve the system at the coarsest mesh
• Get the solution of the fine mesh step by
step using coarse meshes
![Page 82: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/82.jpg)
Mesh Coarsening
![Page 83: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/83.jpg)
Hierarchical Mesh
![Page 84: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/84.jpg)
Mesh Coarsening
• Constraints:• Mesh quality, Topology Correctness, Approximation
Accuracy, Adaptive to the Curvature, and Restricted
Delaunay Property.
![Page 85: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/85.jpg)
Adaptive Mesh
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Algorithm
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Results
![Page 88: Biogeometry: Molecular Shape Representation Using …amenta/w11/cg-lectures.pdf · Biogeometry: Molecular Shape Representation Using Delaunay Triangulation Xinwei Shi xshi@ucdavis.edu](https://reader031.vdocument.in/reader031/viewer/2022012403/5b2048777f8b9af24d8b4fb5/html5/thumbnails/88.jpg)
Results
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Discussions
• Render skin surfaces using ray tracing
• New idea for meshing
• Medial Axis of Skin
• Modeling other objects other than molecule
• Deformation
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Questions