Claudia Herbst
Associate Professor
Pratt Institute
Department of Digital Arts


A word on Gimbal lock - can you explain it in your own words?


When in doubt, just wiki: http://en.wikipedia.org/wiki/Gimbal_lock


http://www.edharriss.com/tutorials/tutorial_xsi_gimbal/xsi_gimbal.html


http://www.anticz.com/eularqua.htm


http://www.gamedev.net/reference/articles/article1095.asp
(Scroll to "Why use Quaternions?")


http://www.hq.nasa.gov/office/pao/History/alsj/gimbals.html
(Are they kidding?)


http://www.sportsci.com/adi2001/demos/007/gimballock.asp


A nice tutorial for setting up an arm considering matters of rotation:
http://www.thegnomonworkshop.com/tutorials/arm_ik_fk/arm_ik_fk.html