|Math for Game Programmers: Rotational Joint Limits in Quaternion Space
|Gino van den Bergen
|Track / Format:
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|Enforcing rotational limits on a shoulder or hip joints has historically often been achieved by converting from quaternions to "intuitive" parameterizations, such as Euler angles. Such parameterizations are chosen in order to have a simple and straightforward description of the admissible range of rotation. Quaternion space parameterization is notoriously unintuitive and often perceived as unfit for describing ranges of rotation. This talk will compare different techniques for enforcing rotational joint limits and discuss their merits for use in real-time IK and physics solvers. The audience will learn how to apply these techniques directly in quaternion space, thus avoiding the use of expensive trig functions required for conversions.