Rotation Splines

• Quaternions
  • Quaternion Representations
    • Algebraic
    • Scalar and Vector
    • 4D Space
    • More Representations
  • Quaternion Operations
  • Unit Quaternions as Rotations
  • Unit Quaternion Operations
    • Relative Rotation (Global Frame of Reference)
    • Relative Rotation (Local Frame of Reference)
• Spherical Linear Interpolation (Slerp)
  • Derivation
  • Visualization
  • Piecewise Slerp
  • Slerp vs. Nlerp
• De Casteljau's Algorithm
  • “Cubic”
  • Arbitrary “Degree”
  • Constant Angular Speed
  • Joining Curves
  • Joining Curves, Another Approach
• Uniform Catmull--Rom-Like QuaternionSplines
• Non-Uniform Catmull--Rom-Like QuaternionSplines
  • Parameterization
• Kochanek--Bartels-like Rotation Splines
  • Uniform Catmull–Rom
  • Non-Uniform Catmull–Rom
  • TCB
  • Edge Cases
• "Natural" End Conditions
  • Begin
  • End
  • (Non-)Symmetries
• Barry--Goldman Algorithm
  • Constant Angular Speed
• Cumulative Form
  • Piecewise Slerp
  • Cumulative Bézier/Bernstein Curve
  • Comparison with De Casteljau’s Algorithm
• Naive 4D Quaternion Interpolation
• Naive Interpolation of EulerAngles