Why use homogeneous coordinate
More convenient to represent translation.
Reference
Transformation of normal
t is the tangent. S is the transformation of normal
Animating Transformations
Quaternions
Objective: interpolation of rotation animation
Use the operation of Quaternion [by Sir William Rowan Hamilton in 1843].
https://zhuanlan.zhihu.com/p/78987582
Slerp(): spherical linear interpolation
Construct a new coordinate and than calculate the interpolation by
The last content is about how to decompose transformation.
Implement of transformation
Transformation of bound box
Traditional way: interpolation many times and than union their bound box.
Another way: Find extrema
Use derivative to calculate extrema which means 0 derivative.
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