Chapter 25. Quaternion Interpolation

In this chapter we pursue the details of parametric quaternion interpolation directly on S3. The main issue is the problem of creating smooth transitions among orientation frames while retaining the convenience of parametric forms familiar from Euclidean polynomial parameterizations of curves and surfaces. We will also briefly discuss alternate methods of logarithmic-space interpolation and direct variational optimization of spherical curves.

The methods of quaternion animation splines were introduced to the graphics community originally by Shoemake [149]. This chapter provides an overview of the techniques of constructing splines with various desirable continuity properties, following the method of Schlag ...

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