COMPUTER GRAPHICS PIONEERS Early Investigation, Formulation and Use of NURBS at Boeing to compute a result. As the shapes people modeled expanded beyond canonical forms, more general representations (with the associated computational problems) became necessary. This article describes how Boeing initiated and supported a concerted effort to formulate a more computationally useful geometry representation. These systems were based on three-dimensional entities and addressed early stages of design. In aerospace, the batch TX-90 and TX-95 programs at Boeing and the interactive, IBM-based CADD system at McDonnell-Douglas generated complex aerodynamically friendly lofted surfaces.The automotive industry followed a different path because they most often worked with grids of points obtained from digitizing full-scale clay models of new designs. Surface fitting was essential. Gordon surfaces were the primary form used in General Motors, Overhauser surfaces and Coons patches at Ford, and B~zier surfaces at Renault. The third rail of geometry, solid modeling, started to receive a significant amount of research attention in the late 1970s. Larry Roberts started using solids as a basis in his Ph.D. thesis, Machine Recognition of 3D Solids, at MIT in the late 1960s. The Mathematical Applications Group (MAGI) developed Synthavision, a constructive solid geometry (CSG) approach to
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