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Often
one uses quaternions in animation to interpolate between different orientations
of an object.

Alternatively, one can use spherical linear interpolation (SLERP)

where θ is the angle between the two quaternions.

One can linearly interpolate (LERP)
between two quaternions **q1 **and **q2**

but the interpolated rotation does not necessarily maintain a constant rate, even when the interpolated quaternion is normalised.

Alternatively, one can use spherical linear interpolation (SLERP)

where θ is the angle between the two quaternions.

High

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