The Concordance-Homotopy Groups of Geometric Automorphism by P. L. Antonelli, D. Burghelea, P. J. Kahn

By P. L. Antonelli, D. Burghelea, P. J. Kahn

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To convert the point from a homogeneous point to a Cartesian point the c a r t e s i anize function is used. cartesianize()" // pt--(x/w, y/w, z/w, 1) This function is the inverse of the homogenize function and thus divides all components by w. There also exists a final conversion function, r a t i o n a l i z e , that works similarly to cartesi ani ze, but instead of setting w to 1 at the end it leaves it. rationalize(). // pt = (x/w, y/w, z/w, w) It is important to note that Maya doesn't explicitly store which form (Cartesian, homogeneous, rational) the point is in.

Rotations Rotations are often a source of much confusion, and thus an entire chapter is devoted to them here. Before delving into rotations, however, it is important to understand what an angle is. 4. J ANGLES An angle is the rotational distance between two vectors. Angles can be measured in both degrees and radians. Degrees are the most common unit of measurement. There are 360 degrees in a circle. 2831) in a circle. Although degrees are more intuitive, all mathematical functions that take angles use radians.

The conversion from degrees to radians, and vice versa, can be done using simple inline functions. const double DEG_TO_RAD = M_PI / 1 8 0 . 0 inline double degToRad( const / M_PI. double d ) double d ) { return d * DEG_TO_RAD. 2 R O T A T I O N S A rotation is used to turn a given point or vector about an axis of rotation by an amount given as the angle of rotation. The center of rotation is the point about which the rotation will occur. This allows an object to be rotated about any arbitrary point.

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