• Corpus ID: 115207743

Quaternions, Interpolation and Animation

  title={Quaternions, Interpolation and Animation},
  author={Erik Bj{\o}rnager Dam and Martin Koch and Martin Lillholm},
The main topics of this technical report are quaternions, their mathematical properties, and how they can be used to rotate objects. We introduce quaternion mathematics and discuss why quaternions are a better choice for implementing rotation than the well-known matrix implementations. We then treat di erent methods for interpolation between series of rotations. During this treatment we give complete proofs for the correctness of the important interpolation methods Slerp and Squad . Inspired by… 

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