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360° & quaternion rotation


I like to use occasionally quaternion rotation for major rig bones as it reduce problems after. I do struggle constantly with animating 360° - ex: jumps, dance etc' - More often on the Z axis, in the 'Euler'ian terminology' or on any other axis. 

To overcome my limits in practice, I key the movement in the middle of the rotation rather than in the beginning and the end. 

The result isn't fluid. First, more often than not, the quaternion rotation choses rotate back, ie. make '-180°' instead of completing to 360°. Second, the curves cross each other in opposite directions and then it also rotates  ups and down. 

To make the long story short - how I can make a propoer fluid 360 turn with quaternion rotation. 

Thanks for any advice, return!