Abstract
This chapter reviews the 3-D Euler rotation transforms employed in computer graphics software. In particular, we identify their Achilles’ heel—gimbal lock—and the need to be able to rotate about an arbitrary axis. To this end, we will develop a matrix transform that achieves such a rotation, and in the following chapter develop a similar transform using quaternions.
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References
Vince, J.A.: Rotation Transforms for Computer Graphics. Springer, Berlin (2011). ISBN 978-0-85729-153-0
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Visualizing Rotations and Composition of Rotations with Rodrigues’ Vector. www.arxiv.org
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Vince, J. (2021). 3-D Rotation Transforms. In: Quaternions for Computer Graphics. Springer, London. https://doi.org/10.1007/978-1-4471-7509-4_7
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DOI: https://doi.org/10.1007/978-1-4471-7509-4_7
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