I would like to know how I can get the coordinates of four control points of a Bézier curve that represents the best approximation of a circular arc, knowing the coordinates of three points of the corresponding circle. I would like at least to know the solution to this problem in the case where two of the known circle points are the two ends of a diameter of the circle.

  • $\begingroup$ Can we assume that the second point is half-way along the circular arc? $\endgroup$
    – bubba
    Feb 25, 2016 at 12:34
  • $\begingroup$ No, it can be any point in the circular arc $\endgroup$
    – Neo
    Feb 25, 2016 at 13:25
  • $\begingroup$ It gets much more difficult if the interior point isn't mid-way along the arc. I suggest you begin by figuring out the circle through the three points (i.e. compute its center and radius). Type "circle through three points" into your favorite search engine. $\endgroup$
    – bubba
    Feb 26, 2016 at 1:20

2 Answers 2


For a unit semi-circle centered at the origin, the points are $(1,0)$, $(1, \tfrac43)$, $(-1, \tfrac43)$, $(-1,0)$. Translate, rotate, and scale as needed.

If the end-points of the diameter are $\mathbf{P}$ and $\mathbf{Q}$, proceed as follows:

Let $\mathbf{U}$ be a vector obtained by rotating $\vec{\mathbf{P}\mathbf{Q}}$ through 90 degrees. Then the control points are $\mathbf{P}$, $\mathbf{P} + \tfrac23 \mathbf{U}$, $\mathbf{Q} + \tfrac23 \mathbf{U}$, $\mathbf{Q}$.

Pseudocode is as follows

Vector V = Q - P;
Vector U = new Vector(-A.Y, A.X);   // Perpendicular to PQ
double s = 2.0/3.0;                 // Scale factor
Vector[] controlPoints = { P, P + s*U, Q + s*U, Q };

For general circular arcs, complete details are given in "Good approximation of circles by curvature-continuous Bézier curves", by Tor Dokken, Morten Dæhlen Tom Lyche, Knut Mørken, Computer Aided Geometric Design Volume 7, Issues 1–4, June 1990, Pages 33-41.

  • $\begingroup$ Thanks for you answer in the case of a semi-circle, I actually made a mistake in my question, I want to know the formula not only for a semi-circle but for any circular arc. I edit my post @bubba $\endgroup$
    – Neo
    Feb 25, 2016 at 12:24
  • $\begingroup$ Thanks, do you have an idea for the general case where the two points are not the ends of the circle's diameter ? @bubba $\endgroup$
    – Neo
    Feb 25, 2016 at 13:18
  • $\begingroup$ $4/3$ is the value that makes the spline also go through $(0,1)$. If you don't insist on this condition you can do a bit better, e.g. the minimum of $\int_0^1 (x(t)^2 + y(t)^2 - 1)^2 \, dt$ is attained when $4/3$ is replaced by $(172 \, / \, 99)^{1/2}$ which is about $1.3181$. $\endgroup$ Feb 26, 2016 at 3:46
  • $\begingroup$ @NoamD.Elkies. Yes, and the value that minimizes $\max\{x^2(t) +y^2(t) -1: 0 \le x \le 1\}$ (which is often more meaningful) is something different again. See paper by Dokken at al. that I referenced. $\endgroup$
    – bubba
    Mar 1, 2016 at 13:07

You can use the following ways to find the control points of a cubic Bezier curve for approximating a circular arc with end points $P_0$, $P_1$, radius R and angular span A:

Denoting the control points as $Q_0$, $Q_1$, $Q_2$ and $Q_3$, then

$Q_1=P_0 + LT_0$
$Q_2=P_1 - LT_1$

where $T_0$ and $T_1$ are the unit tangent vector of the circular arc at $P_0$ and $P_1$ and $L = \frac{4R}{3}tan(\frac{A}{4})$.

Please note that above formula will give you a pretty good approximation for the circular arc. But it is not "the best" approximation. We can achieve an even better approximation with more complicated formula for the $L$ value. But for practical purpose, above formula is typically good enough.

  • $\begingroup$ What do you mean by "angular span" ? @fang $\endgroup$
    – Neo
    Feb 28, 2016 at 18:53
  • $\begingroup$ Angular span is the spanning angle of that circular arc. For example, a semicircle has 180 degree of angular span and a full circle has a 360 degree of angular span. Be sure to use radian (not degree) in the computation of tan(). $\endgroup$
    – fang
    Feb 28, 2016 at 21:05
  • $\begingroup$ Since tangents are unit-length, shouldn't the formula for $L$ be multiplied by $R$? $\endgroup$
    – CygnusX1
    Mar 23, 2020 at 18:50
  • $\begingroup$ You are correct. Thanks for catching this. I will revise the formula. $\endgroup$
    – fang
    Mar 24, 2020 at 1:43
  • $\begingroup$ @fang Could you describe "an even better approximation with more complicated formula for the L value"? $\endgroup$
    – Ivan Bunin
    Jan 2 at 19:11

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