3x3 Orthogonal Matrices Composition （3 x3正交矩阵组成）.pdf

Orientations Euler Angles • Goal: • …so far, used one angle per axis, ie. Euler – Convenient representation of orientation of angles. objects characters in a scene • Pros: • Applications to: – Simple! – inverse kinematics • Cons: – rigid body simulation – Singularities (“gimbal lock”) – rag doll physics – Interpolation is tricky – etc. – Composing rotations is tricky Singularities Interpolation • Singularities may arise when axes are • Vital for keyframe animation, blending rotated to coincide mocap data, etc. • Lose a degree of freedom • Linear interpolating each angle • Consider an airplane’s roll-pitch-yaw independently gives odd behaviour near – eg. (0,90,0) vs. (90,90,90) – identical position singularities • IK problems: • Not “coordinate independent” – Infinitely many solutions if coincident – For 2 orientations, rotate-interpolate gives a different result than interpolate-rotate – Ill-posed when very close to coincident Composition 3x3 Orthogonal Matrices • Given two rotations applied sequent