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The derivative of slerp(q 0, q 1; t) with respect to t, assuming the ends are fixed, is log(q 1 q 0 −1) times the function value, where the quaternion natural logarithm in this case yields half the 3D angular velocity vector. The initial tangent vector is parallel transported to each tangent along the curve; thus the curve is, indeed, a geodesic.
A plot of the smoothstep(x) and smootherstep(x) functions, using 0 as the left edge and 1 as the right edgeSmoothstep is a family of sigmoid-like interpolation and clamping functions commonly used in computer graphics, [1] [2] video game engines, [3] and machine learning.
In computer graphics, the centripetal Catmull–Rom spline is a variant form of the Catmull–Rom spline, originally formulated by Edwin Catmull and Raphael Rom, [1] which can be evaluated using a recursive algorithm proposed by Barry and Goldman. [2]
The magnitude of the unit quaternion will be unity, corresponding to a hypersphere of unit radius. The vector part of a unit quaternion represents the radius of the 2-sphere corresponding to the axis of rotation, and its magnitude is the sine of half the angle of rotation.
Vector geometry of Rodrigues' rotation formula, as well as the decomposition into parallel and perpendicular components. Let k be a unit vector defining a rotation axis, and let v be any vector to rotate about k by angle θ ( right hand rule , anticlockwise in the figure), producing the rotated vector v rot {\displaystyle \mathbb {v} _{\text ...
The th column of an identity matrix is the unit vector, a vector whose th entry is 1 and 0 elsewhere. The determinant of the identity matrix is 1, and its trace is . The identity matrix is the only idempotent matrix with non-zero determinant. That is, it is the only matrix such that:
The extended finite element method (XFEM), is a numerical technique based on the generalized finite element method (GFEM) and the partition of unity method (PUM). It extends the classical finite element method (FEM) approach by enriching the solution space for solutions to differential equations with discontinuous functions.
For a symmetric matrix A, the vector vec(A) contains more information than is strictly necessary, since the matrix is completely determined by the symmetry together with the lower triangular portion, that is, the n(n + 1)/2 entries on and below the main diagonal. For such matrices, the half-vectorization is sometimes more useful than the ...