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Slerp
In computer graphics, slerp is shorthand for spherical linear interpolation, introduced by Ken Shoemake in the context of quaternion interpolation for the purpose of animating 3D rotation. It refers to constant-speed motion along a unit-radius great circle arc, given the ends and an interpolation parameter between 0 and 1. Geometric slerp Slerp has a geometric formula independent of quaternions, and independent of the dimension of the space in which the arc is embedded. This formula, a symmetric weighted sum credited to Glenn Davis, is based on the fact that any point on the curve must be a linear combination of the ends. Let ''p''0 and ''p''1 be the first and last points of the arc, and let ''t'' be the parameter, . Compute Ω as the angle subtended by the arc, so that , the ''n''-dimensional dot product of the unit vectors from the origin to the ends. The geometric formula is then : \operatorname(p_0,p_1; t) = \frac p_0 + \frac p_1. The symmetry lies in the fact that ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Quaternions And Spatial Rotation
unit vector, Unit quaternions, known as versor, ''versors'', provide a convenient mathematics, mathematical notation for representing spatial Orientation (geometry), orientations and rotations of elements in three dimensional space. Specifically, they encode information about an Axis–angle representation, axis-angle rotation about an arbitrary axis. Rotation and orientation quaternions have applications in computer graphics, Presented at SIGGRAPH '85. computer vision, robotics, navigation, molecular dynamics, flight dynamics, orbital mechanics of satellites, and Texture (crystalline), crystallographic texture analysis. When used to represent rotation, unit quaternions are also called rotation quaternions as they represent the 3D rotation group. When used to represent an Orientation (geometry), orientation (rotation relative to a reference coordinate system), they are called orientation quaternions or attitude quaternions. A spatial rotation around a fixed point of \theta radians ab ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Computer Graphics
Computer graphics deals with generating images and art with the aid of computers. Computer graphics is a core technology in digital photography, film, video games, digital art, cell phone and computer displays, and many specialized applications. A great deal of specialized hardware and software has been developed, with the displays of most devices being driven by graphics hardware, computer graphics hardware. It is a vast and recently developed area of computer science. The phrase was coined in 1960 by computer graphics researchers Verne Hudson and William Fetter of Boeing. It is often abbreviated as CG, or typically in the context of film as Computer-generated imagery, computer generated imagery (CGI). The non-artistic aspects of computer graphics are the subject of Computer graphics (computer science), computer science research. Some topics in computer graphics include user interface design, Sprite (computer graphics), sprite graphics, raster graphics, Rendering (computer graph ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Lie Group
In mathematics, a Lie group (pronounced ) is a group (mathematics), group that is also a differentiable manifold, such that group multiplication and taking inverses are both differentiable. A manifold is a space that locally resembles Euclidean space, whereas groups define the abstract concept of a binary operation along with the additional properties it must have to be thought of as a "transformation" in the abstract sense, for instance multiplication and the taking of inverses (to allow division), or equivalently, the concept of addition and subtraction. Combining these two ideas, one obtains a continuous group where multiplying points and their inverses is continuous. If the multiplication and taking of inverses are smoothness, smooth (differentiable) as well, one obtains a Lie group. Lie groups provide a natural model for the concept of continuous symmetry, a celebrated example of which is the circle group. Rotating a circle is an example of a continuous symmetry. For an ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Parallel Transport
In differential geometry, parallel transport (or parallel translation) is a way of transporting geometrical data along smooth curves in a manifold. If the manifold is equipped with an affine connection (a covariant derivative or connection on the tangent bundle), then this connection allows one to transport vectors of the manifold along curves so that they stay '' parallel'' with respect to the connection. The parallel transport for a connection thus supplies a way of, in some sense, moving the local geometry of a manifold along a curve: that is, of ''connecting'' the geometries of nearby points. There may be many notions of parallel transport available, but a specification of one way of connecting up the geometries of points on a curve is tantamount to providing a ''connection''. In fact, the usual notion of connection is the infinitesimal analog of parallel transport. Or, ''vice versa'', parallel transport is the local realization of a connection. As parallel transport suppl ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Natural Logarithm
The natural logarithm of a number is its logarithm to the base of a logarithm, base of the e (mathematical constant), mathematical constant , which is an Irrational number, irrational and Transcendental number, transcendental number approximately equal to . The natural logarithm of is generally written as , , or sometimes, if the base is implicit, simply . Parentheses are sometimes added for clarity, giving , , or . This is done particularly when the argument to the logarithm is not a single symbol, so as to prevent ambiguity. The natural logarithm of is the exponentiation, power to which would have to be raised to equal . For example, is , because . The natural logarithm of itself, , is , because , while the natural logarithm of is , since . The natural logarithm can be defined for any positive real number as the Integral, area under the curve from to (with the area being negative when ). The simplicity of this definition, which is matched in many other formulas ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Derivative
In mathematics, the derivative is a fundamental tool that quantifies the sensitivity to change of a function's output with respect to its input. The derivative of a function of a single variable at a chosen input value, when it exists, is the slope of the tangent line to the graph of the function at that point. The tangent line is the best linear approximation of the function near that input value. For this reason, the derivative is often described as the instantaneous rate of change, the ratio of the instantaneous change in the dependent variable to that of the independent variable. The process of finding a derivative is called differentiation. There are multiple different notations for differentiation. '' Leibniz notation'', named after Gottfried Wilhelm Leibniz, is represented as the ratio of two differentials, whereas ''prime notation'' is written by adding a prime mark. Higher order notations represent repeated differentiation, and they are usually denoted in Leib ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Euler's Formula
Euler's formula, named after Leonhard Euler, is a mathematical formula in complex analysis that establishes the fundamental relationship between the trigonometric functions and the complex exponential function. Euler's formula states that, for any real number , one has e^ = \cos x + i \sin x, where is the base of the natural logarithm, is the imaginary unit, and and are the trigonometric functions cosine and sine respectively. This complex exponential function is sometimes denoted ("cosine plus ''i'' sine"). The formula is still valid if is a complex number, and is also called ''Euler's formula'' in this more general case. Euler's formula is ubiquitous in mathematics, physics, chemistry, and engineering. The physicist Richard Feynman called the equation "our jewel" and "the most remarkable formula in mathematics". When , Euler's formula may be rewritten as or , which is known as Euler's identity. History In 1714, the English mathematician Roger Cotes prese ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Versor
In mathematics, a versor is a quaternion of Quaternion#Norm, norm one, also known as a unit quaternion. Each versor has the form :u = \exp(a\mathbf) = \cos a + \mathbf \sin a, \quad \mathbf^2 = -1, \quad a \in [0,\pi], where the r2 = −1 condition means that r is an imaginary unit. There is a Quaternion#Square_roots_of_%E2%88%921, sphere of imaginary units in the quaternions. Note that the expression for a versor is just Euler's formula for the imaginary unit r. In case (a right angle), then u = \mathbf, and it is called a ''right versor''. The mapping q \to u^ q u corresponds to three-dimensional space, 3-dimensional rotation, and has the angle 2''a'' about the axis r in axis–angle representation. The collection of versors, with quaternion multiplication, forms a group (mathematics), group, and appears as a 3-sphere in the 4-dimensional quaternion algebra. Presentation on 3- and 2-spheres Hamilton denoted the versor of a quaternion ''q'' by the symbol U ''q''. He was the ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Power Series
In mathematics, a power series (in one variable) is an infinite series of the form \sum_^\infty a_n \left(x - c\right)^n = a_0 + a_1 (x - c) + a_2 (x - c)^2 + \dots where ''a_n'' represents the coefficient of the ''n''th term and ''c'' is a constant called the ''center'' of the series. Power series are useful in mathematical analysis, where they arise as Taylor series of infinitely differentiable functions. In fact, Borel's theorem implies that every power series is the Taylor series of some smooth function. In many situations, the center ''c'' is equal to zero, for instance for Maclaurin series. In such cases, the power series takes the simpler form \sum_^\infty a_n x^n = a_0 + a_1 x + a_2 x^2 + \dots. The partial sums of a power series are polynomials, the partial sums of the Taylor series of an analytic function are a sequence of converging polynomial approximations to the function at the center, and a converging power series can be seen as a kind of generalized polynom ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Real Numbers
In mathematics, a real number is a number that can be used to measurement, measure a continuous variable, continuous one-dimensional quantity such as a time, duration or temperature. Here, ''continuous'' means that pairs of values can have arbitrarily small differences. Every real number can be almost uniquely represented by an infinite decimal expansion. The real numbers are fundamental in calculus (and in many other branches of mathematics), in particular by their role in the classical definitions of limit (mathematics), limits, continuous function, continuity and derivatives. The set of real numbers, sometimes called "the reals", is traditionally mathematical notation, denoted by a bold , often using blackboard bold, . The adjective ''real'', used in the 17th century by René Descartes, distinguishes real numbers from imaginary numbers such as the square roots of . The real numbers include the rational numbers, such as the integer and the fraction (mathematics), fraction . ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
