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eudora

Averaging of rotation matrix?

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Say I have a child who has 2 parents. Both parent's have their own rotation matrix. The child knows those rotation matrix and the weightage both parents have on him... how should I obtain the child's rotation matrix?

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Quote:
Original post by eudora
Say I have a child who has 2 parents. Both parent's have their own rotation matrix. The child knows those rotation matrix and the weightage both parents have on him... how should I obtain the child's rotation matrix?
Perhaps you're looking for slerp (spherical linear interpolation). Given appropriate a priori knowledge about the parent matrices, lerp (linear interpolation) may also be an option.

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You can just average the matrices, and then re-normalize it to the amount of scale that the matrices have. Google for "orthonormalize matrix" and you'll probably get hits.

An alternative is to turn the matrices into quaternions, interpolating the quaternions, and then turning back to matrix. That's more robust if the parents have rotations that are almost 180 degrees opposite.

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