Spherical Skinning with Dual-Quaternions and QTangent - Crytek

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Quaternion CompressionWe can compress a Quaternion down to three elements bymaking sure one of the them is greater than or equal to zeroif (q.w < 0)q = -qWe can then rebuild the missing element <strong>with</strong>q.w = sqrt(1 – dot(q.xyz , q.xyz))
Tangent Frame Format Memory ComparisonCompressed MatrixTangent BiTangent Reflectionx y z x y z sQuaternionQuaternion Reflectionx y z w s754Compressed QuaternionQuaternion Reflectionx y z s
Page 1 and 2: Spherical Skinning withDual-Quatern
Page 3 and 4: Skinned Geometry
Page 5 and 6: Skinning with Quaternions• ~30% l
Page 7 and 8: From Linear to Spherical• Geometr
Page 9 and 10: Tangent FramesTangent Frames were t
Page 11 and 12: Compressed Matrix FormatVertex attr
Page 13 and 14: Bringing Reflection Into the Equati
Page 15: Our Quaternion PropertiesThey are n
Page 19 and 20: Avoiding Quaternion CompressionIsn'
Page 21 and 22: Decoding ReflectionAll we have to d
Page 23 and 24: Tangent Frame Transformation with D
Page 25: Stress-Testing QTangentsBy making s
Page 29 and 30: Singularity Found!At times the most
Page 31 and 32: Floating-Point Standards• So what
Page 33 and 34: Handling Singularities• In order
Page 35 and 36: Applying the Bias ConstantWe need t
Page 37 and 38: QTangents with Static GeometryPosit
Page 39 and 40: Special Thanks• Ivo Herzeg, Micha
Page 41: Questions?ivof@crytek.com

Spherical Skinning with Dual-Quaternions and QTangent - Crytek

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