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VanVerth Jim Math For Game
Understanding Rotations Jim Van Verth Senior Engine Programmer, Insomniac Games jim@essentialmath.com Introductions. Name a little misleading, as truly understanding
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Jim Van Verth - Essential Math for Games Programmers
www.essentialmath.comRodrigues Rotation Theorem Follows from Euler’s theorem Given axis , angle , and point ˆr θ p, rotation is R(ˆr, θ, p)=p cos θ +(ˆr × p)sinθ + ˆr(ˆr • p)(1 − cos θ) Benjamin Olinde Rodrigues (1795–1851), more commonly known as Olinde Rodrigues, was a French mathematician who is best known for his formula for Legendre polynomials.
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