Background Information and Techniques - Computer Animation: Algorithms and Techniques - page 500

X

3
i¼ 1 B i B i

B ¼

T

ðC i D i Þ

0

B i ¼

(B.187)

D i C i ½D i C i x

2
4

3
5

0 zy

½ðx; y; zÞx ¼ x

yx 0

z 0

2
4

3
5

q 0 q 1 þ q 2 q 3 2 ðq 1 q 2 q 0 q 3 Þ 2 ðq 1 q 3 þ q 0 q 2 Þ

R ¼ 2 ðq 1 q 2 þ q 0 q 3 Þ q 0 q 1 þ q 2 q 3 2 ðq 3 q 2 q 0 q 1 Þ (B.188)

2 ðq 1 q 3 q 0 q 2 Þ 2 ðq 3 q 1 þ q 0 q 2 Þ q 0 q 1 q 2 þ q 3

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