The equation for k-order B-spline with n+1 control points (P0 , P1 , ... , Pn ) is P(t) = ∑i=0,n Ni,k(t) Pi , tk-1 <= t <= tn+1 . In a B-spline each control point is associated with a basis function Ni,k which is given by the recurrence relations (see Bspline.java) Ni,k(t) = Ni,k-1(t) (t - ti)/(ti+k-1 - ti) + Ni+1,k-1(t) (ti+k - t)/(ti+k - ti+1) , Ni,1 = {1 if ti <= t <= ti+1 , 0 othe