Spherical Skinning with Dual-Quaternions and QTangent - Crytek

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Defining Our Bias ConstantWe define our bias constant as thesmallest value that will satisfy q.w != 0If we are using an integer format, this value is given bybias = 1 / (2 BITS-1 – 1)
Applying the Bias ConstantWe need to apply our bias for each Quaternion satisfying q.w < bias,<strong>and</strong> while doing so we make sure our Quaternion stays normalizedif (q.w < bias){q.xyz *= sqrt(1 - bias*bias)q.w = bias}
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 and 16: Our Quaternion PropertiesThey are n
Page 17 and 18: Tangent Frame Format Memory Compari
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: Handling Singularities• In order
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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