Smooth interpolation of orientations with angular velocity constraints using quaternions
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Smooth invariant interpolation of rotations
ACM Transactions on Graphics (TOG)
Animating rotation with quaternion curves
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
Constructing 3D motions from curvature and torsion profiles
Computer-Aided Design
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Using methods derived from De Moivre's theorem for complex numbers and its extension to quaternions we consider ways of speeding-up methods for implementing incremental spherical linear interpolation of quaternions by circumventing the need to compute expensive trigonometric quantities at each increment.