Overview and low-level motion specification(Chapter 15)

1. Hierarchy control system in animation;

2. Procedural animation, Representational animation, Stochastic animation, Behavioural animation & Low-level control;

3. Scripting system: ASAS & MIRA;

4. Motion Control: Key framing, Spline-driven animation, Splining translation;

5. Arclength parameterization;

6. Velocity curves;

7. Kinetic control: Hermite basis;

8. Parameterization of orientation: Euler angles;

9. Problems with Euler angles representing orientation: Gimbal lock(the lost of one degree of freedom) & Non-steady interpolation;

10. Angular displacement;

11. Quaternion;

12. Interpolating using quaternion:

a. Represent a rotation with a rotation matrix;

b. Convert the matrix to a quaternion;

c. Interpolate between the quaternion;

d. Convert the quaternion to a matrix;

e. Apply the matrix to the object;

13. Move into and out of quaternion space ( Matrix -> Quaternion & Quaternion -> Matrix);

14. Spherical linear interpolation & Shortest arc determination on quaternion hyper-sphere;